SpaceSamplePoint.hpp

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#ifndef SPACESAMPLEPOINT_HPP_
#define SPACESAMPLEPOINT_HPP_

#define PCL_NO_PRECOMPILE
#include "typedef.hpp"
#include <geometry_msgs/Pose.h>
#include <string>
#include <pcl/point_types.h>
#include <pcl/impl/point_types.hpp>
#include <pcl/search/search.h>
#include <pcl/search/organized.h>
#include <pcl/search/impl/organized.hpp>
#include <pcl/search/kdtree.h>
#include <pcl/search/impl/kdtree.hpp>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#include <pcl/segmentation/conditional_euclidean_clustering.h>
#include <pcl/segmentation/impl/conditional_euclidean_clustering.hpp>
#include <pcl/pcl_base.h>
#include <pcl/impl/pcl_base.hpp>

namespace next_best_view {
        namespace gm = geometry_msgs;

    /* Describes a point in the space in the point cloud.
     * Space Points stands for possible position of the robot to look at objects.
     */
        struct SpaceSamplePoint {
        public:
                PCL_ADD_POINT4D;

        IndicesPtr child_indices;
        public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
                SpaceSamplePoint(const gm::Pose &pose = gm::Pose()) {
                        x = pose.position.x;
                        y = pose.position.y;
                        z = pose.position.z;
                }

                SpaceSamplePoint(const SimpleVector3 &vector) {
                        x = vector[0];
                        y = vector[1];
                        z = vector[2];
                }

                gm::Point getPoint() const {
                        gm::Point pt;
                        pt.x = x;
                        pt.y = y;
                        pt.z = z;
                        return pt;
                }

                SimpleVector3 getSimpleVector3() const {
                        return SimpleVector3(x, y, z);
                }
        } EIGEN_ALIGN16;
    typedef boost::shared_ptr<SpaceSamplePoint> SpaceSamplePointPtr;

    std::ostream& operator<<(std::ostream &strm, const next_best_view::SpaceSamplePoint &p);
    std::ostream& operator<<(std::ostream &strm, const next_best_view::SpaceSamplePointPtr &p);
}

POINT_CLOUD_REGISTER_POINT_STRUCT (next_best_view::SpaceSamplePoint,
   (float, x, x)
   (float, y, y)
   (float, z, z)
)


#endif /* SPACESAMPLEPOINT_HPP_ */