ObservationDirection.h
Go to the documentation of this file.
00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2018,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 #pragma once
00036 
00037 #include "PointMatcher.h"
00038 
00040 template<typename T>
00041 struct ObservationDirectionDataPointsFilter: public PointMatcher<T>::DataPointsFilter
00042 {
00043         typedef PointMatcherSupport::Parametrizable Parametrizable;
00044         typedef PointMatcherSupport::Parametrizable P;
00045         typedef Parametrizable::Parameters Parameters;
00046         typedef Parametrizable::ParameterDoc ParameterDoc;
00047         typedef Parametrizable::ParametersDoc ParametersDoc;
00048         typedef Parametrizable::InvalidParameter InvalidParameter;
00049         
00050         typedef typename PointMatcher<T>::Vector Vector;
00051         typedef typename PointMatcher<T>::DataPoints DataPoints;
00052         typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
00053         
00054         inline static const std::string description()
00055         {
00056                 return "This filter extracts observation directions (vector from point to sensor), considering a sensor at position (x,y,z).\n\n"
00057                            "Required descriptors: none.\n"
00058                        "Produced descritors:  observationDirections.\n"
00059                            "Altered descriptors:  none.\n"
00060                            "Altered features:     none.";
00061         }
00062         
00063         inline static const ParametersDoc availableParameters()
00064         {
00065                 return {
00066                         {"x", "x-coordinate of sensor", "0"},
00067                         {"y", "y-coordinate of sensor", "0"},
00068                         {"z", "z-coordinate of sensor", "0"}
00069                 };
00070         }
00071 
00072         const T centerX;
00073         const T centerY;
00074         const T centerZ;
00075 
00077         ObservationDirectionDataPointsFilter(const Parameters& params = Parameters());
00078         virtual DataPoints filter(const DataPoints& input);
00079         virtual void inPlaceFilter(DataPoints& cloud);
00080 };


libpointmatcher
Author(s):
autogenerated on Thu Jun 20 2019 19:51:31