43 #include <Eigen/Geometry>
48 #include <openvdb/openvdb.h>
50 #include <geometry_msgs/Point.h>
51 #include <visualization_msgs/Marker.h>
52 #include <visualization_msgs/MarkerArray.h>
53 #include <geometry_msgs/Quaternion.h>
54 #include <geometry_msgs/PointStamped.h>
55 #include <geometry_msgs/Pose.h>
66 const double& z_,
const Eigen::Vector3d& p0) : \
83 Eigen::Vector3d vec_t = homogeneous_transform.rotation() * Eigen::Vector3d(
x,
y,
z);
85 x = vec_t[0];
y = vec_t[1];
z = vec_t[2];
102 virtual bool IsInside(
const openvdb::Vec3d& pt) = 0;
105 virtual void SetPosition(
const geometry_msgs::Point& origin) = 0;
106 virtual void SetOrientation(
const geometry_msgs::Quaternion& quat) = 0;