cylindrical_shell.h

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/*
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 *
 *  Copyright (c) 2014, Andreas ten Pas
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#ifndef CYLINDRICAL_SHELL_H
#define CYLINDRICAL_SHELL_H

#include "Eigen/Dense"
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/point_cloud.h>
#include <pcl/search/organized.h>

typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;

class CylindricalShell
{
public:

  void
  fitCylinder(const PointCloud::Ptr &cloud, const std::vector<int> &indices, const Eigen::Vector3d &normal,
              const Eigen::Vector3d &curvature_axis);

  bool
  hasClearance(const PointCloud::Ptr &cloud, const std::vector<int>& nn_indices, double maxHandAperture,
               double handleGap);

  inline double getExtent() const
  {
    return this->extent;
  }
  ;

  inline void setExtent(double extent)
  {
    this->extent = extent;
  }
  ;

  inline double getRadius() const
  {
    return this->radius;
  }
  ;

  inline int getNeighborhoodCentroidIndex() const
  {
    return this->neighborhood_centroid_index;
  }
  ;

  inline void setNeighborhoodCentroidIndex(int index)
  {
    this->neighborhood_centroid_index = index;
  }
  ;

  inline Eigen::Vector3d getCentroid() const
  {
    return this->centroid;
  }
  ;

  inline Eigen::Vector3d getCurvatureAxis() const
  {
    return this->curvature_axis;
  }
  ;

  inline Eigen::Vector3d getNormal() const
  {
    return this->normal;
  }
  ;

private:

  Eigen::Vector3d centroid;
  Eigen::Vector3d curvature_axis;
  double extent;
  double radius;
  Eigen::Vector3d normal;
  int neighborhood_centroid_index;
};

#endif