00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 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 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 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