viewpoint_sampler.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_VIEWPOINT_SAMPLER_H_
00038 #define JSK_PCL_ROS_VIEWPOINT_SAMPLER_H_
00039 
00040 #include <Eigen/Geometry>
00041 #include <boost/shared_ptr.hpp>
00042 
00043 namespace jsk_pcl_ros
00044 {
00045   class ViewpointSampler
00046   {
00047   public:
00048     typedef boost::shared_ptr<ViewpointSampler> Ptr;
00049     ViewpointSampler(double angle_step, double angle_min, double angle_max,
00050                      double radius_step, double radius_min, double radius_max,
00051                      int n_points);
00052     virtual void reset();
00053     virtual void get(Eigen::Affine3f& transform);
00054     virtual void next();
00055     virtual size_t sampleNum();
00056   protected:
00057     virtual void normalizeVector(double& x, double& y, double& z);
00058     double angle_step_;
00059     double angle_min_;
00060     double angle_max_;
00061     double radius_step_;
00062     double radius_min_;
00063     double radius_max_;
00064     double index_;
00065     double angle_;
00066     double radius_;
00067     int n_points_;
00068   private:
00069     
00070   };
00071 }
00072 
00073 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48