segment.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
00038 
00039 #include <iostream>
00040 #include "jsk_recognition_utils/geo/line.h"
00041 #include "visualization_msgs/Marker.h"
00042 
00043 namespace jsk_recognition_utils
00044 {
00045   class Plane;
00050   class Segment: public Line
00051   {
00052   public:
00053     typedef boost::shared_ptr<Segment> Ptr;
00054 
00062     Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to);
00063 
00068     virtual void getEnd(Eigen::Vector3f& output) const;
00069     virtual Eigen::Vector3f getEnd() const;
00070 
00071     virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;
00072     virtual double dividingRatio(const Eigen::Vector3f& point) const;
00073     virtual double distance(const Eigen::Vector3f& point) const;
00074     virtual double distance(const Eigen::Vector3f& point, Eigen::Vector3f& foot_point) const;
00075     virtual bool intersect(Plane& plane, Eigen::Vector3f& point) const;
00076     virtual void midpoint(Eigen::Vector3f& midpoint) const;
00077     //virtual double distance(const Segment& other);
00078     friend std::ostream& operator<<(std::ostream& os, const Segment& seg);
00079 
00087     virtual double distanceWithInfo(const Eigen::Vector3f& from,
00088                                     Eigen::Vector3f& foot_point,
00089                                     double &distance_to_goal) const;
00090 
00095     virtual Segment::Ptr flipSegment() const;
00096 
00101     virtual double length() const;
00102 
00107     void toMarker(visualization_msgs::Marker& marker) const;
00108 
00113     virtual bool isCross (const Line &ln, double distance_threshold = 1e-5) const;
00114     virtual bool isCross (const Segment &ln, double distance_threshold = 1e-5) const;
00115 
00116   protected:
00117     Eigen::Vector3f to_;
00118     double length_;
00119   private:
00120   };
00121 }
00122 
00123 #endif


jsk_recognition_utils
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autogenerated on Tue Jul 2 2019 19:40:37