handle_search.h

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/*
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 *
 *  Copyright (c) 2015, Andreas ten Pas
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#ifndef HANDLE_SEARCH_H_
#define HANDLE_SEARCH_H_

#include <set>
#include <vector>

#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <agile_grasp/handle.h>
#include <agile_grasp/grasp_hypothesis.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

class HandleSearch
{
public:
        
        std::vector<Handle> findHandles(const std::vector<GraspHypothesis>& hand_list, int min_inliers, double min_length);

        void plotHandles(const std::vector<Handle>& handle_list, const PointCloud::Ptr& cloud, std::string str);

private:
        
        bool shortenHandle(std::vector<Eigen::Vector2d> &inliers, double gap_threshold);
        
        double safeAcos(double x);
        
        struct VectorFirstTwoElementsComparator
        {
                bool operator ()(const Eigen::Vector3d& a, const Eigen::Vector3d& b)
                {
                        for (int i = 0; i < 2; i++)
                        {
                                if (a(i) != b(i))
                                {
                                        return a(i) < b(i);
                                }
                        }

                        return false;
                }
        };
        
        struct LastElementComparator
        {
                bool operator ()(const Eigen::Vector2d& a, const Eigen::Vector2d& b)
                {
                        if (a(1) != b(1))
                        {
                                return a(1) < b(1);
                        }

                        return false;
                }
        };
};

#endif /* HANDLE_SEARCH_H_ */