Sensor.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstUtil/Object.hpp"
#include "AstUtil/StringView.hpp"
#include "AstCore/Point.hpp"
#include "AstCore/FieldOfView.hpp"
#include <memory>
 
AST_NAMESPACE_BEGIN
 
class AST_SIM_API Sensor: public Point
{
public:
    AST_OBJECT(Sensor)
    Sensor();
    ~Sensor() override = default;
public:
    const std::string& getName() const override { return name_; }
    void setName(StringView name) override { name_ = std::string(name); }
 
public: // 从 Point 类继承的方法
    Frame* getFrame() const final;
    errc_t getPos(const TimePoint& tp, Vector3d& pos) const final;
    errc_t getPosVel(const TimePoint& tp, Vector3d& pos, Vector3d& vel) const final;
public:
    void setFieldOfView(FieldOfView* fov);
 
    FieldOfView* getFieldOfView() const { return fov_; }
 
private:
    std::string name_;               
    WeakPtr<Point> location_;        
    SharedPtr<FieldOfView> fov_;     
};
 
AST_NAMESPACE_END