pcl::TfQuadraticXYZComparison< PointT > Class Template Reference

A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0). Here [OP] stands for the defined pcl::ComparisonOps, i.e. for GT, GE, LT, LE or EQ; p = (x,y,z) is a point of the point cloud; A is 3x3 matrix; v is the 3x1 vector; c is a scalar. More...

`#include <conditional_removal.h>`

Inheritance diagram for pcl::TfQuadraticXYZComparison< PointT >: [legend]

List of all members.

## Public Types

typedef boost::shared_ptr
< const
< PointT > >
ConstPtr

## Public Member Functions

virtual bool evaluate (const PointT &point) const
Determine the result of this comparison.
void setComparisonMatrix (const Eigen::Matrix3f &matrix)
set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonMatrix (const Eigen::Matrix4f &homogeneousMatrix)
set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonOperator (const pcl::ComparisonOps::CompareOp op)
set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonScalar (const float &scalar)
set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonVector (const Eigen::Vector3f &vector)
set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonVector (const Eigen::Vector4f &homogeneousVector)
set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
Constructor.
TfQuadraticXYZComparison (const pcl::ComparisonOps::CompareOp op, const Eigen::Matrix3f &comparison_matrix, const Eigen::Vector3f &comparison_vector, const float &comparison_scalar, const Eigen::Affine3f &comparison_transform=Eigen::Affine3f::Identity())
Constructor.
void transformComparison (const Eigen::Matrix4f &transform)
transform the coordinate system of the comparison. If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.
void transformComparison (const Eigen::Affine3f &transform)
transform the coordinate system of the comparison. If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.

## Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef boost::shared_ptr
< PointT > >
Ptr

## Protected Attributes

Eigen::Matrix4f comp_matr_
float comp_scalar_
Eigen::Vector4f comp_vect_

## Private Attributes

Eigen::Matrix4f tf_comp_matr_
Eigen::Vector4f tf_comp_vect_

## Detailed Description

### template<typename PointT> class pcl::TfQuadraticXYZComparison< PointT >

A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0). Here [OP] stands for the defined pcl::ComparisonOps, i.e. for GT, GE, LT, LE or EQ; p = (x,y,z) is a point of the point cloud; A is 3x3 matrix; v is the 3x1 vector; c is a scalar.

Definition at line 293 of file conditional_removal.h.

## Member Typedef Documentation

template<typename PointT>
 typedef boost::shared_ptr > pcl::TfQuadraticXYZComparison< PointT >::ConstPtr

Reimplemented from pcl::ComparisonBase< PointT >.

Definition at line 299 of file conditional_removal.h.

## Constructor & Destructor Documentation

template<typename PointT >

Constructor.

Definition at line 382 of file conditional_removal.hpp.

template<typename PointT >
 pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison ( const pcl::ComparisonOps::CompareOp op, const Eigen::Matrix3f & comparison_matrix, const Eigen::Vector3f & comparison_vector, const float & comparison_scalar, const Eigen::Affine3f & comparison_transform = `Eigen::Affine3f::Identity ()` )

Constructor.

Parameters:
 op the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0". comparison_matrix the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". comparison_vector the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". comparison_scalar the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0". comparison_transform the transformation of the comparison.

Definition at line 443 of file conditional_removal.hpp.

## Member Function Documentation

template<typename PointT >
 bool pcl::TfQuadraticXYZComparison< PointT >::evaluate ( const PointT & point ) const` [virtual]`

Determine the result of this comparison.

Parameters:
 point the point to evaluate
Returns:
the result of this comparison.

Implements pcl::ComparisonBase< PointT >.

Definition at line 509 of file conditional_removal.hpp.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix3f & matrix ) ` [inline]`

set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 327 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix4f & homogeneousMatrix ) ` [inline]`

set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 339 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonOperator ( const pcl::ComparisonOps::CompareOp op ) ` [inline]`

set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 319 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonScalar ( const float & scalar ) ` [inline]`

set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 366 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector3f & vector ) ` [inline]`

set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 348 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector4f & homogeneousVector ) ` [inline]`

set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 357 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Matrix4f & transform ) ` [inline]`

transform the coordinate system of the comparison. If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.

Parameters:
 transform the transformation (rotation and translation) as an affine matrix.

Definition at line 381 of file conditional_removal.h.

template<typename PointT>
 void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Affine3f & transform ) ` [inline]`

transform the coordinate system of the comparison. If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.

Parameters:
 transform the transformation (rotation and translation) as an affine matrix.

Definition at line 397 of file conditional_removal.h.

## Member Data Documentation

template<typename PointT>
 Eigen::Matrix4f pcl::TfQuadraticXYZComparison< PointT >::comp_matr_` [protected]`

Definition at line 413 of file conditional_removal.h.

template<typename PointT>
 float pcl::TfQuadraticXYZComparison< PointT >::comp_scalar_` [protected]`

Definition at line 416 of file conditional_removal.h.

template<typename PointT>
 Eigen::Vector4f pcl::TfQuadraticXYZComparison< PointT >::comp_vect_` [protected]`

Definition at line 414 of file conditional_removal.h.

template<typename PointT>
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr > pcl::TfQuadraticXYZComparison< PointT >::Ptr

Reimplemented from pcl::ComparisonBase< PointT >.

Definition at line 298 of file conditional_removal.h.

template<typename PointT>
 Eigen::Matrix4f pcl::TfQuadraticXYZComparison< PointT >::tf_comp_matr_` [private]`

Definition at line 419 of file conditional_removal.h.

template<typename PointT>
 Eigen::Vector4f pcl::TfQuadraticXYZComparison< PointT >::tf_comp_vect_` [private]`

Definition at line 420 of file conditional_removal.h.

The documentation for this class was generated from the following files:

pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:18