37 #ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
38 #define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
40 #include <pcl/point_types.h>
41 #include <pcl/point_cloud.h>
52 class PointCloudModelGenerator
56 typedef pcl::PointNormal
PointT;
57 virtual void generate(
const std::string& model_name,
58 pcl::PointCloud<PointT>& output,
62 std::vector<std::string> ret;
63 ret.push_back(
"flat");
64 ret.push_back(
"stairs");
65 ret.push_back(
"flat");
66 ret.push_back(
"gaussian");
70 virtual void flat(pcl::PointCloud<PointT>& output,
72 virtual void stairs(pcl::PointCloud<PointT>& output,
74 virtual void hills(pcl::PointCloud<PointT>& output,
76 virtual void gaussian(pcl::PointCloud<PointT>& output,
78 virtual void flatPole(pcl::PointCloud<PointT>& output,
80 virtual void addPole(pcl::PointCloud<PointT>& output,
81 const Eigen::Vector3f& center,