vertex.h
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00001 
00006 #ifndef _VERTEX_H_
00007 #define _VERTEX_H_
00008 
00009 #include <g2o/types/slam3d/vertex_se3.h>
00010 #include <pcl/point_types.h>
00011 
00012 typedef pcl::PointXYZRGB                  PointRGB;
00013 
00014 namespace slam
00015 {
00016 
00017 class Vertex : public g2o::VertexSE3
00018 {
00019 
00020 public:
00021 
00022   // Replicate constructor
00023   explicit Vertex() : g2o::VertexSE3() { }
00024 
00025   // Access specifiers
00026   inline void setBoundaries(const PointRGB& min_pt, const PointRGB& max_pt)
00027   {
00028     min_pt_ = min_pt;
00029     max_pt_ = max_pt;
00030   }
00031   inline void getBoundaries(PointRGB& min_pt, PointRGB& max_pt)
00032   {
00033     min_pt = min_pt_;
00034     max_pt = max_pt_;
00035   }
00036 
00037 
00038 private:
00039   PointRGB min_pt_;
00040   PointRGB max_pt_;
00041 };
00042 
00043 } // namespace
00044 
00045 #endif // VERTEX_H


stereo_slam
Author(s): Pep Lluis Negre
autogenerated on Thu Aug 27 2015 15:24:22