pointcloud_model_generator.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
#define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
 
 
namespace jsk_footstep_planner
{
 
  class PointCloudModelGenerator
  {
  public:
    typedef boost::shared_ptr<PointCloudModelGenerator> Ptr;
    typedef pcl::PointNormal PointT;
    virtual void generate(const std::string& model_name,
                          pcl::PointCloud<PointT>& output,
                          double hole_rate = 0.0);
    
    static std::vector<std::string> supportedModels() {
      std::vector<std::string> ret;
      ret.push_back("flat");
      ret.push_back("stairs");
      ret.push_back("flat");
      ret.push_back("gaussian");
      return ret;
    }
  protected:
    virtual void flat(pcl::PointCloud<PointT>& output,
                      double hole_rate);
    virtual void stairs(pcl::PointCloud<PointT>& output,
                        double hole_rate);
    virtual void hills(pcl::PointCloud<PointT>& output,
                       double hole_rate);
    virtual void gaussian(pcl::PointCloud<PointT>& output,
                          double hole_rate);
    virtual void flatPole(pcl::PointCloud<PointT>& output,
                          double hole_rate);
    virtual void addPole(pcl::PointCloud<PointT>& output,
                         const Eigen::Vector3f& center,
                         const double width,
                         const double height);
  private:
    
  };
}
 
#endif