00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_ 00038 #define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_ 00039 00040 #include <pcl/point_types.h> 00041 #include <pcl/point_cloud.h> 00042 00043 00044 namespace jsk_footstep_planner 00045 { 00046 00052 class PointCloudModelGenerator 00053 { 00054 public: 00055 typedef boost::shared_ptr<PointCloudModelGenerator> Ptr; 00056 typedef pcl::PointNormal PointT; 00057 virtual void generate(const std::string& model_name, 00058 pcl::PointCloud<PointT>& output, 00059 double hole_rate = 0.0); 00060 00061 static std::vector<std::string> supportedModels() { 00062 std::vector<std::string> ret; 00063 ret.push_back("flat"); 00064 ret.push_back("stairs"); 00065 ret.push_back("flat"); 00066 ret.push_back("gaussian"); 00067 return ret; 00068 } 00069 protected: 00070 virtual void flat(pcl::PointCloud<PointT>& output, 00071 double hole_rate); 00072 virtual void stairs(pcl::PointCloud<PointT>& output, 00073 double hole_rate); 00074 virtual void hills(pcl::PointCloud<PointT>& output, 00075 double hole_rate); 00076 virtual void gaussian(pcl::PointCloud<PointT>& output, 00077 double hole_rate); 00078 private: 00079 00080 }; 00081 } 00082 00083 #endif