pcdfilter_pa_filter.cpp

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/******************************************************************************
*                                                                             *
* pcdfilter_pa_filter.cpp                                                     *
* =======================                                                     *
*                                                                             *
*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_pcdfilter                               *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
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// local headers
#include "pcdfilter_pa/pcdfilter_pa_filter.h"

// standard headers
#include <sstream>

//**************************[cPcdFilterPaFilter]*******************************
cPcdFilterPaFilter::cPcdFilterPaFilter(void) {

    type_    = ftNONE;
    inverse_ = false ;

    parameter_[0] = 0;
    parameter_[1] = 0;
    parameter_[2] = 0;

    rotation_     = cv::Matx33f::eye();
    //translation_  = cv::Vec3f();
}

//**************************[cPcdFilterPaFilter]*******************************
cPcdFilterPaFilter::cPcdFilterPaFilter(
  const cPcdFilterPaFilter &other) {

    *this = other;
}

//**************************[operator = ]**************************************
cPcdFilterPaFilter& cPcdFilterPaFilter::operator = (
  const cPcdFilterPaFilter &other) {

    type_         = other.type_        ;
    inverse_      = other.inverse_     ;

    parameter_[0] = other.parameter_[0];
    parameter_[1] = other.parameter_[1];
    parameter_[2] = other.parameter_[2];

    rotation_     = other.rotation_    ;
    translation_  = other.translation_ ;

    return *this;
}

//**************************[toString]*****************************************
std::string cPcdFilterPaFilter::toString(void) const {
    std::stringstream result;

    if (inverse_) {
        result << '!';
    }

    int count_para = 0;
    switch (type_) {
        case ftNONE    : result << "none"    ;                 break;
        case ftCUBE    : result << "cube"    ; count_para = 1; break;
        case ftSPHERE  : result << "sphere"  ; count_para = 1; break;
        case ftBLOCK   : result << "block"   ; count_para = 3; break;
        case ftCYLINDER: result << "cylinder"; count_para = 2; break;
        case ftCONE    : result << "cone"    ; count_para = 2; break;
        default        : result << "error"   ;                 break;
    }
    result << ":";

    for (int i = 0; i < count_para; i++) {
        result << ' ' << parameter_[i];
    }

    result << "; rot=[[";
    for (int y = 0; y < 3; y++) {
        if (y > 0) { result << "], [";}
        for (int x = 0; x < 3; x++) {
            if (x > 0) { result << ", ";}
            result << rotation_(y,x);
        }
    }
    result << "]]";

    result << "; trans=[";
    for (int x = 0; x < 3; x++) {
        if (x > 0) { result << ", ";}
        result << translation_(x);
    }
    result << "]";

    return result.str();
}