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00063 #include <cob_3d_mapping_common/minimal_rectangle_2d.h>
00064 #include <iostream>
00065
00066 typedef Eigen::Vector2f Vec;
00067
00068 int main(int argc, char** argv)
00069 {
00070 std::vector<Vec> pts;
00071 pts.push_back(Vec(-10,-5));
00072 pts.push_back(Vec(-8,-3));
00073 pts.push_back(Vec(-5,-2));
00074
00075 pts.push_back(Vec(-3,-5));
00076 pts.push_back(Vec(-5,-8));
00077 pts.push_back(Vec(-8,-7));
00078
00079 Vec p1, p2, p3;
00080 cob_3d_mapping::MinimalRectangle2D mr;
00081 mr.setConvexHullList(pts);
00082 mr.rotatingCalipers(p2,p1,p3);
00083
00084 std::cout << "Origin:\n" << p2 << std::endl;
00085 std::cout << "ccw:\n" << p1 << std::endl;
00086 std::cout << "cw:\n" << p3 << std::endl;
00087 }