cube.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_CUBE_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_CUBE_H_
00038 
00039 #include "jsk_recognition_utils/geo/polygon.h"
00040 #include "jsk_recognition_utils/geo/convex_polygon.h"
00041 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00042 
00043 namespace jsk_recognition_utils
00044 {
00045   class Cube
00046   {
00047   public:
00048     typedef boost::shared_ptr<Cube> Ptr;
00049     Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot);
00050     Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot,
00051          const std::vector<double>& dimensions);
00052     Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot,
00053          const Eigen::Vector3f& dimensions);
00054     Cube(const Eigen::Vector3f& pos, // centroid
00055          const Line& line_a, const Line& line_b, const Line& line_c);
00056     Cube(const jsk_recognition_msgs::BoundingBox& box);
00057     virtual ~Cube();
00058     std::vector<Segment::Ptr> edges();
00059     ConvexPolygon::Ptr intersectConvexPolygon(Plane& plane);
00060     std::vector<double> getDimensions() const { return dimensions_; };
00061     void setDimensions(const std::vector<double>& new_dimensions) {
00062       dimensions_[0] = new_dimensions[0];
00063       dimensions_[1] = new_dimensions[1];
00064       dimensions_[2] = new_dimensions[2];
00065     }
00066     jsk_recognition_msgs::BoundingBox toROSMsg();
00067 
00075     Vertices vertices();
00076 
00081     Vertices transformVertices(const Eigen::Affine3f& pose_offset);
00082     
00088     std::vector<Polygon::Ptr> faces();
00089 
00098     virtual Eigen::Vector3f nearestPoint(const Eigen::Vector3f& p,
00099                                          double& distance);
00100   protected:
00101     Eigen::Vector3f pos_;
00102     Eigen::Quaternionf rot_;
00103     std::vector<double> dimensions_;
00104 
00109     virtual Polygon::Ptr buildFace(const Eigen::Vector3f v0,
00110                                    const Eigen::Vector3f v1,
00111                                    const Eigen::Vector3f v2,
00112                                    const Eigen::Vector3f v3);
00113 
00118     virtual Eigen::Vector3f buildVertex(double i, double j, double k);
00119     
00120   private:
00121     
00122   };
00123 }
00124 
00125 #endif


jsk_recognition_utils
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autogenerated on Sun Oct 8 2017 02:42:48