plane.h
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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
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_PLANE_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_PLANE_H_
00038 
00039 #include <Eigen/Geometry>
00040 #include <boost/shared_ptr.hpp>
00041 #include <boost/array.hpp>
00042 #include <vector>
00043 #include "jsk_recognition_utils/types.h"
00044 
00045 namespace jsk_recognition_utils
00046 {
00047   class Plane
00048   {
00049   public:
00050     typedef boost::shared_ptr<Plane> Ptr;
00051     Plane(const std::vector<float>& coefficients);
00052     Plane(const boost::array<float, 4>& coefficients);
00053     Plane(Eigen::Vector3f normal, double d);
00054     Plane(Eigen::Vector3f normal, Eigen::Vector3f p);
00055     virtual ~Plane();
00056     virtual Plane flip();
00057     virtual Plane::Ptr faceToOrigin();
00058     virtual bool isSameDirection(const Plane& another);
00059     virtual bool isSameDirection(const Eigen::Vector3f& another_normal);
00060     virtual double signedDistanceToPoint(const Eigen::Vector4f p);
00061     virtual double distanceToPoint(const Eigen::Vector4f p);
00062     virtual double signedDistanceToPoint(const Eigen::Vector3f p);
00063     virtual double distanceToPoint(const Eigen::Vector3f p);
00064     virtual double distance(const Plane& another);
00065     virtual double angle(const Plane& another);
00066     virtual double angle(const Eigen::Vector3f& vector);
00067     virtual void project(const Eigen::Vector3f& p, Eigen::Vector3f& output);
00068     virtual void project(const Eigen::Vector3d& p, Eigen::Vector3d& output);
00069     virtual void project(const Eigen::Vector3d& p, Eigen::Vector3f& output);
00070     virtual void project(const Eigen::Vector3f& p, Eigen::Vector3d& output);
00071     virtual void project(const Eigen::Affine3d& pose, Eigen::Affine3d& output);
00072     virtual void project(const Eigen::Affine3f& pose, Eigen::Affine3f& output);
00073     virtual Eigen::Vector3f getNormal();
00074     virtual Eigen::Vector3f getPointOnPlane();
00075     virtual Plane transform(const Eigen::Affine3d& transform);
00076     virtual Plane transform(const Eigen::Affine3f& transform);
00077     virtual void toCoefficients(std::vector<float>& output);
00078     virtual std::vector<float> toCoefficients();
00079     virtual double getD();
00080     virtual Eigen::Affine3f coordinates();
00081   protected:
00082     virtual void initializeCoordinates();
00083     Eigen::Vector3f normal_;
00084     double d_;
00085     Eigen::Affine3f plane_coordinates_;
00086   private:
00087   };
00088 
00089 }
00090 
00091 #endif
00092 
00093 


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