Public Types | Public Member Functions | Public Attributes | Protected Attributes | Private Attributes
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 >:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< const
TfQuadraticXYZComparison
< 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".
 TfQuadraticXYZComparison ()
 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
< TfQuadraticXYZComparison
< 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.

Author:
Julian Löchner

Definition at line 293 of file conditional_removal.h.


Member Typedef Documentation

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

Reimplemented from pcl::ComparisonBase< PointT >.

Definition at line 299 of file conditional_removal.h.


Constructor & Destructor Documentation

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:
opthe operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_matrixthe matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_vectorthe vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_scalarthe scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_transformthe 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:
pointthe 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:
transformthe 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:
transformthe 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<TfQuadraticXYZComparison<PointT> > 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