//
// Created by zx on 2021/12/16.
//

#ifndef SHUTTER_VERIFY__SAFETY_EXCUTOR_H_
#define SHUTTER_VERIFY__SAFETY_EXCUTOR_H_

#define VIEW 1

#include "LivoxMid70.h"
#include "setting.pb.h"
typedef struct
{
    unsigned short  wheel_path_safety;
    unsigned short  parkspcae_safety;
    float left_space;
    float right_space;
    float theta;
    float offset_x;
}tagMeasureData;
class safety_excutor
{
 public:
    static safety_excutor* CreateExcutor(const shutter::shutter_param& parameter);
    ~safety_excutor();
    bool verify(tagMeasureData& data);
 private:
    safety_excutor();
    bool init(const shutter::shutter_param& parameter);

    bool pointInRectangle(pcl::PointXYZ point,const shutter::box_param& box);

    pcl::PointCloud<pcl::PointXYZ>::Ptr  PassThroughCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
                                                          const shutter::box_param& box);
 private:
    shutter::shutter_param          m_parameter;
    livox::LivoxMid70*          mp_lidars;

};


#endif //SHUTTER_VERIFY__SAFETY_EXCUTOR_H_