jsk_footstep_planner: pointcloud_model

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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
00038 #define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
00039 
00040 #include <pcl/point_types.h>
00041 #include <pcl/point_cloud.h>
00042 
00043 
00044 namespace jsk_footstep_planner
00045 {
00046 
00052   class PointCloudModelGenerator
00053   {
00054   public:
00055     typedef boost::shared_ptr<PointCloudModelGenerator> Ptr;
00056     typedef pcl::PointNormal PointT;
00057     virtual void generate(const std::string& model_name,
00058                           pcl::PointCloud<PointT>& output,
00059                           double hole_rate = 0.0);
00060     
00061     static std::vector<std::string> supportedModels() {
00062       std::vector<std::string> ret;
00063       ret.push_back("flat");
00064       ret.push_back("stairs");
00065       ret.push_back("flat");
00066       ret.push_back("gaussian");
00067       return ret;
00068     }
00069   protected:
00070     virtual void flat(pcl::PointCloud<PointT>& output,
00071                       double hole_rate);
00072     virtual void stairs(pcl::PointCloud<PointT>& output,
00073                         double hole_rate);
00074     virtual void hills(pcl::PointCloud<PointT>& output,
00075                        double hole_rate);
00076     virtual void gaussian(pcl::PointCloud<PointT>& output,
00077                           double hole_rate);
00078     virtual void flatPole(pcl::PointCloud<PointT>& output,
00079                           double hole_rate);
00080     virtual void addPole(pcl::PointCloud<PointT>& output,
00081                          const Eigen::Vector3f& center,
00082                          const double width,
00083                          const double height);
00084   private:
00085     
00086   };
00087 }
00088 
00089 #endif