// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_POINTSENSORPARAMETERS_H_
#define G2O_POINTSENSORPARAMETERS_H_

#include <cmath>

#include "g2o_simulator_api.h"

namespace g2o {

class G2O_SIMULATOR_API PointSensorParameters {
 public:
  PointSensorParameters() = default;
  [[nodiscard]] double maxRange() const { return sqrt(maxRange2_); }
  void setMaxRange(double maxRange);
  [[nodiscard]] double minRange() const { return sqrt(minRange2_); }
  void setMinRange(double minRange);
  [[nodiscard]] double fov() const { return fov_; }
  void setFov(double fov);
  [[nodiscard]] double maxAngularDifference() const {
    return maxAngularDifference_;
  }
  void setMaxAngularDifference(double angularDifference);

 protected:
  double maxRange2_ = 25;
  double minRange2_ = 0.01;
  double fov_ = M_PI / 2;
  double maxAngularDifference_ = M_PI / 2;
};

}  // namespace g2o

#endif