cell_vector.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, AASS Research Center, Orebro University.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of AASS Research Center nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  */
00035 #ifndef LSL_CELL_VECTOR_HH
00036 #define LSL_CELL_VECTOR_HH
00037 
00038 #include <ndt_map/spatial_index.h>
00039 #include <ndt_map/ndt_cell.h>
00040 #include <pcl/kdtree/kdtree_flann.h>
00041 
00042 namespace lslgeneric
00043 {
00044 
00048 template <typename PointT>
00049 class CellVector : public SpatialIndex<PointT>
00050 {
00051 public:
00052     CellVector();
00053     CellVector(Cell<PointT>* cellPrototype);
00054     CellVector(const CellVector<PointT>& other)
00055     {
00056         //std::cout<<"CREATE COPY CELL VECTOR\n";
00057         this = other.copy();
00058     }
00059     virtual ~CellVector();
00060 
00061     virtual Cell<PointT>* getCellForPoint(const PointT &point);
00062     virtual Cell<PointT>* addPoint(const PointT &point);
00063     void addCellPoints(pcl::PointCloud<PointT> pc, const std::vector<size_t> &indices);
00064     void addCell(Cell<PointT>* cell);
00065     void addNDTCell(NDTCell<PointT>* cell);
00066 
00067     virtual typename SpatialIndex<PointT>::CellVectorItr begin();
00068     virtual typename SpatialIndex<PointT>::CellVectorItr end();
00069     virtual int size();
00070 
00072     virtual SpatialIndex<PointT>* clone() const;
00074     virtual SpatialIndex<PointT>* copy() const;
00075 
00077     virtual void getNeighbors(const PointT &point, const double &radius, std::vector<Cell<PointT>*> &cells);
00078 
00080     virtual void setCellType(Cell<PointT> *type);
00081 
00082 
00083     void initKDTree();
00084 
00085     NDTCell<PointT>* getClosestNDTCell(const PointT &pt);
00086     std::vector<NDTCell<PointT>*> getClosestNDTCells(const PointT &point, double &radius);
00087     NDTCell<PointT>* getCellIdx(unsigned int idx) const;
00088 
00089     void cleanCellsAboveSize(double size);
00090     int loadFromJFF(FILE * jffin);
00091 private:
00092     std::vector<Cell<PointT>*> activeCells;
00093     Cell<PointT> *protoType;
00094     pcl::KdTreeFLANN<PointT> meansTree;
00095     typename pcl::KdTree<PointT>::PointCloudPtr mp;
00096     bool treeUpdated;
00097 public:
00098     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00099 };
00100 
00101 
00102 }; //end namespace
00103 #include <ndt_map/impl/cell_vector.hpp>
00104 
00105 #endif


ndt_map
Author(s): Todor Stoyanov, Jari Saarinen, Henrik Andreasson
autogenerated on Mon Oct 6 2014 03:18:54