// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/range_finder.h>

#include <webots/RangeFinder.hpp>

using namespace std;

using namespace webots;

void RangeFinder::enable(int sampling_period) {

wb_range_finder_enable(getTag(), sampling_period);

}

void RangeFinder::disable() {

wb_range_finder_disable(getTag());

}

int RangeFinder::getSamplingPeriod() const {

return wb_range_finder_get_sampling_period(getTag());

}

const float *RangeFinder::getRangeImage() const {

return wb_range_finder_get_range_image(getTag());

}

int RangeFinder::getWidth() const {

return wb_range_finder_get_width(getTag());

}

int RangeFinder::getHeight() const {

return wb_range_finder_get_height(getTag());

}

double RangeFinder::getFov() const {

return wb_range_finder_get_fov(getTag());

}

double RangeFinder::getMinRange() const {

return wb_range_finder_get_min_range(getTag());

}

double RangeFinder::getMaxRange() const {

return wb_range_finder_get_max_range(getTag());

}

int RangeFinder::saveImage(const string &filename, int quality) const {

return wb_range_finder_save_image(getTag(), filename.c_str(), quality);

}

float RangeFinder::rangeImageGetDepth(const float *image, int width, int x, int y) {

return wb_range_finder_image_get_depth(image, width, x, y);

}