trajectory_files_manager_1.hpp

Go to the documentation of this file.

#ifndef RAM_UTILS_TRAJECTORY_FILES_MANAGER_1_HPP
#define RAM_UTILS_TRAJECTORY_FILES_MANAGER_1_HPP

#include <Eigen/Geometry>
#include <fstream>
#include <ram_utils/yaml_utils.hpp>
#include <string>
#include <vector>
#include <vtkPolyData.h>
#include <vtkPolygon.h>
#include <vtkSmartPointer.h>
#include <vtkVector.h>

namespace ram_utils
{
typedef Eigen::Isometry3d Pose;
typedef std::vector<Eigen::Isometry3d> PosesPolygon;
typedef std::vector<PosesPolygon> PosesLayer;
typedef std::vector<PosesLayer> PosesTrajectory;

typedef vtkSmartPointer<vtkPolyData> Polygon;
typedef std::vector<Polygon> Polygons;
typedef std::vector<Polygons> PolygonsVector;

bool yamlFileToPolydata(const std::string yaml_file,
                        Polygon poly_data);

bool yamlFileToPolydata2(const std::string yaml_file,
                         Polygon poly_data,
                         std::vector<unsigned> &layer_count);

bool polydataToYamlFile(const std::string yaml_file,
                        const Polygon poly_data);

bool polydataToYamlFile2(const std::string yaml_file,
                         const Polygon poly_data);

void writeYAMLFile(const PosesTrajectory &trajectory,
                   const std::string file_name,
                   const bool no_linear = false,
                   const std::string header = "");
}

#endif