.. _program_listing_file_include_transform.hpp:

Program Listing for File transform.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_transform.hpp>` (``include/transform.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 ROBOTIS CO., 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
   //
   //     http://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.
   //
   // Author: LD Robot, Will Son
   
   #ifndef TRANSFORM_HPP_
   #define TRANSFORM_HPP_
   
   #include <math.h>
   #include <vector>
   #include <algorithm>
   #include "../include/lipkg.hpp"
   
   enum class LDVersion
   {
     LD_ZERO,  /*Zero  generation lidar*/
     LD_THREE, /*Third generation lidar*/
     LD_EIGHT, /*Eight generation radar*/
     LD_NINE,  /*Nine  generation radar*/
   };
   
   class SlTransform
   {
   private:
     bool to_right_hand = true;
     double offset_x;
     double offset_y;
   
   public:
     explicit SlTransform(LDVersion version);
     Points2D Transform(const Points2D & data);
     ~SlTransform();
   };
   
   
   #endif  // TRANSFORM_HPP_