polyline.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2017, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_POLYLINE_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_POLYLINE_H_
00038 
00039 #include <Eigen/Geometry>
00040 #include <boost/shared_ptr.hpp>
00041 #include "jsk_recognition_utils/types.h"
00042 #include "jsk_recognition_utils/geo/segment.h"
00043 #include "visualization_msgs/Marker.h"
00044 
00045 namespace jsk_recognition_utils
00046 {
00051   class PolyLine : public Line
00052   {
00053   public:
00054     typedef boost::shared_ptr<PolyLine> Ptr;
00061     PolyLine(const std::vector < Eigen::Vector3f > &points);
00062 
00069     virtual Segment::Ptr at(int index) const;
00070 
00075     virtual double distance(const Eigen::Vector3f& point,
00076                             Eigen::Vector3f& foot_point) const;
00077     virtual double distance(const Eigen::Vector3f& point) const;
00078 
00083     virtual double distanceWithInfo(const Eigen::Vector3f& from,
00084                                     Eigen::Vector3f& foot_point,
00085                                     double& distance_to_goal,
00086                                     int& foot_index,
00087                                     double& foot_alpha) const;
00088 
00095     virtual void getDirection(int index, Eigen::Vector3f& output) const;
00096     virtual Eigen::Vector3f getDirection(int index) const;
00097 
00102     virtual double length() const;
00103 
00108     virtual PolyLine::Ptr flipPolyLine() const;
00109 
00114     void toMarker(visualization_msgs::Marker& marker) const;
00115 
00116     friend std::ostream& operator<<(std::ostream& os, const PolyLine& pl);
00117   protected:
00118     std::vector< Segment::Ptr > segments;
00119   };
00120 }
00121 
00122 #endif


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