NearestPlaneCapable.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/point_plane_pair_t.h>
 
#include <optional>
 
namespace mp2p_icp
{
class NearestPlaneCapable
{
   public:
    NearestPlaneCapable() = default;
    virtual ~NearestPlaneCapable();
 
    struct NearestPlaneResult
    {
        NearestPlaneResult() = default;
 
        std::optional<point_plane_pair_t> pairing;
 
        float distance = 0;
    };
 
    virtual NearestPlaneResult nn_search_pt2pl(
        const mrpt::math::TPoint3Df& point,
        const float                  max_search_distance) const = 0;
};
 
}  // namespace mp2p_icp