#include <SubmodMap.h>

Public Member Functions
void	constructMarker (const std::string frame_id, const std::vector< bool > &reachable, visualization_msgs::MarkerArray &array)
void	constructMarker (const std::string frame_id, const std::vector< bool > &reachable, const std::vector< bool > &collision, visualization_msgs::MarkerArray &array)
void	constructMarker (const std::string frame_id, visualization_msgs::MarkerArray &array)
void	constructNormalMarker (const std::string frame_id, visualization_msgs::MarkerArray &array) const
void	insertScan (pcl::PointCloud< pcl::PointXYZ > &cloud, pcl::PointCloud< pcl::PointXYZ > &not_used_cloud)
void	insertScan (pcl::PointCloud< pcl::PointXYZ > &cloud, pcl::PointCloud< pcl::PointXYZ > &not_used_cloud, pcl::PointXYZ view_point)
	SubmodMap ()
Public Attributes
std::vector< SurfacePatch >	map_
Private Member Functions
void	computePatchesFromCloud (pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointXYZ view_point, std::vector< SurfacePatch > &patches, pcl::PointCloud< pcl::PointXYZ > &not_used_cloud)
bool	generatePatch (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointXYZ view_point, const pcl::PointXYZ center, const std::vector< int > &mask, SurfacePatch &patch, std::vector< int > &removed_points)
bool	pointRepresented (pcl::PointNormal p)
bool	searchPatchForPoint (pcl::PointXYZ p)
Private Attributes
bool	first_insert
float	radius_
float	ransac_distance_
int	ransac_iterations_
pcl::KdTreeFLANN< SurfacePatch >	tree_

Detailed Description

Definition at line 18 of file SubmodMap.h.

Constructor & Destructor Documentation

SubmodMap::SubmodMap ( )

Definition at line 117 of file SubmodMap.cpp.

void SubmodMap::computePatchesFromCloud	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const pcl::PointXYZ	view_point,
		std::vector< SurfacePatch > &	patches,
		pcl::PointCloud< pcl::PointXYZ > &	not_used_cloud
	)		`[private]`

Definition at line 189 of file SubmodMap.cpp.

void SubmodMap::constructMarker	(	const std::string	frame_id,
		const std::vector< bool > &	reachable,
		visualization_msgs::MarkerArray &	array
	)

Definition at line 607 of file SubmodMap.cpp.

void SubmodMap::constructMarker	(	const std::string	frame_id,
		const std::vector< bool > &	reachable,
		const std::vector< bool > &	collision,
		visualization_msgs::MarkerArray &	array
	)

Definition at line 660 of file SubmodMap.cpp.

void SubmodMap::constructMarker	(	const std::string	frame_id,
		visualization_msgs::MarkerArray &	array
	)

Definition at line 562 of file SubmodMap.cpp.

void SubmodMap::constructNormalMarker	(	const std::string	frame_id,
		visualization_msgs::MarkerArray &	array
	)		const

Definition at line 718 of file SubmodMap.cpp.

bool SubmodMap::generatePatch	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const pcl::PointXYZ	view_point,
		const pcl::PointXYZ	center,
		const std::vector< int > &	mask,
		SurfacePatch &	patch,
		std::vector< int > &	removed_points
	)		`[private]`