crossing_detector.h

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/*
 * Crossing detector from lama_msgs/PlaceProfile.msg
 */

#ifndef _CROSSING_DETECTOR_CROSSING_DETECTOR_H_
#define _CROSSING_DETECTOR_CROSSING_DETECTOR_H_

#include <cmath>
#include <cstring>
#include <vector>

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Delaunay_triangulation_2.h>
#include <CGAL/Polygon_2.h>

#include <ros/ros.h>
#include <geometry_msgs/Polygon.h>

#include <lama_common/place_profile_utils.h>
#include <lama_msgs/Crossing.h>
#include <lama_msgs/Frontier.h>
#include <lama_msgs/PlaceProfile.h>

namespace crossing_detector
{

using std::vector;
using lama_msgs::Crossing;
using lama_msgs::PlaceProfile;
using lama_msgs::Frontier;

typedef CGAL::Exact_predicates_inexact_constructions_kernel K;
typedef K::Point_2 Point;
typedef CGAL::Delaunay_triangulation_2<K> Delaunay;
typedef Delaunay::Face_iterator Face_iterator;
typedef CGAL::Polygon_2<K> Polygon;

class CrossingDetector
{
  public:

    CrossingDetector(const double frontier_width, const double max_frontier_angle=1.0);

    Crossing crossingDescriptor(const PlaceProfile& profile, const bool normalize=false);
    vector<Frontier> frontiers(const PlaceProfile& profile, const bool normalize=false);

    double getFrontierWidth() const {return frontier_width_;}
    void setFrontierWidth(const double value) {frontier_width_ = std::fabs(value);}

    double getMaxFrontierAngle() const {return max_frontier_angle_;}
    void setMaxFrontierAngle(const double value) {max_frontier_angle_ = std::fabs(value);}

    double getMinRelevance() const {return min_relevance_;}
    void setMinRelevance(const double value) {min_relevance_ = std::fabs(value);}

    PlaceProfile getPlaceProfile() const {return place_profile_;}

  protected:

    vector<Frontier> frontiers_() const;

    PlaceProfile place_profile_;  

  private:

    vector<Point> delaunayInput(const PlaceProfile& profile) const;

    // Parameters shown outside (constructor and setter).
    double frontier_width_;  
    double max_frontier_angle_;  


    double min_relevance_;  

};

} // namespace crossing_detector

#endif // _CROSSING_DETECTOR_CROSSING_DETECTOR_H_