typedef.hpp

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#ifndef TYPEDEF_HPP_
#define TYPEDEF_HPP_

#include <eigen3/Eigen/Dense>
#include <pcl/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/frustum_culling.h>
#include <pcl/filters/crop_box.h>
#include <set>
#include <vector>

namespace next_best_view {
        // the used precision in all calculations
        typedef float Precision;

        // matrix types
        typedef Eigen::Matrix<Precision, 2, 2> SimpleMatrix2;
        typedef Eigen::Matrix<Precision, 3, 3> SimpleMatrix3;
        typedef Eigen::Matrix<Precision, 4, 4> SimpleMatrix4;
        typedef Eigen::Matrix<Precision, Eigen::Dynamic, Eigen::Dynamic> SimpleMatrixX;

        // matrix list types
        typedef std::vector<SimpleMatrix3, Eigen::aligned_allocator<SimpleMatrix3> > SimpleMatrix3Collection;
        typedef boost::shared_ptr<SimpleMatrix3Collection> SimpleMatrix3CollectionPtr;

        typedef std::vector<SimpleMatrix4, Eigen::aligned_allocator<SimpleMatrix4> > SimpleMatrix4Collection;
        typedef boost::shared_ptr<SimpleMatrix4Collection> SimpleMatrix4CollectionPtr;

        // vector types
        typedef Eigen::Matrix<Precision, 2, 1> SimpleVector2;
        typedef Eigen::Matrix<Precision, 3, 1> SimpleVector3;
        typedef SimpleVector3 SimpleSphereCoordinates;
        typedef Eigen::Matrix<Precision, 4, 1> SimpleVector4;
        typedef Eigen::Matrix<Precision, Eigen::Dynamic, 1> SimpleVectorX;
    typedef Eigen::Matrix<int, 3, 1> GridVector3;

        // vector list types
        typedef std::vector<SimpleVector3, Eigen::aligned_allocator<SimpleVector3> > SimpleVector3Collection;
        typedef boost::shared_ptr<SimpleVector3Collection> SimpleVector3CollectionPtr;

        typedef std::vector<SimpleVector4, Eigen::aligned_allocator<SimpleVector4> > SimpleVector4Collection;
        typedef boost::shared_ptr<SimpleVector4Collection> SimpleVector4CollectionPtr;

        // quaternion type
        typedef Eigen::Quaternion<Precision> SimpleQuaternion;

        // quaternion list types
        typedef std::vector<SimpleQuaternion, Eigen::aligned_allocator<SimpleQuaternion> > SimpleQuaternionCollection;
        typedef boost::shared_ptr<SimpleQuaternionCollection> SimpleQuaternionCollectionPtr;

        // forward declaration for point types
        struct RealObjectPoint;
        struct SpaceSamplePoint;
        struct DefaultViewportPoint;

        // create aliases for actually used point types
        typedef RealObjectPoint ObjectPoint;
        typedef SpaceSamplePoint SamplePoint;
        typedef DefaultViewportPoint ViewportPoint;
    typedef pcl::PointXYZ WorldPoint;

        // defining different point cloud types
        typedef pcl::PointCloud<ObjectPoint> ObjectPointCloud;
        typedef ObjectPointCloud::Ptr ObjectPointCloudPtr;
        typedef ObjectPointCloud::ConstPtr ObjectPointCloudConstPtr;
    typedef pcl::PointCloud<WorldPoint> WorldPointCloud;
    typedef WorldPointCloud::Ptr WorldPointCloudPtr;
    typedef WorldPointCloud::ConstPtr WorldPointCloudConstPtr;

        typedef pcl::PointCloud<SamplePoint> SamplePointCloud;
        typedef SamplePointCloud::Ptr SamplePointCloudPtr;
        typedef SamplePointCloud::ConstPtr SamplePointCloudConstPtr;

        typedef pcl::PointCloud<ViewportPoint> ViewportPointCloud;
        typedef ViewportPointCloud::Ptr ViewportPointCloudPtr;
        typedef ViewportPointCloud::ConstPtr ViewportPointCloudConstPtr;

        // defining the frustum culling
        typedef pcl::FrustumCulling<ObjectPoint> FrustumCulling;
        typedef FrustumCulling::Ptr FrustumCullingPtr;

    // defining the cropbox filtering
    typedef pcl::CropBox<ObjectPoint> CropBox;
    typedef CropBox::Ptr CropBoxPtr;

        // defining kdtree types
        typedef pcl::KdTreeFLANN<ObjectPoint> KdTree;
        typedef KdTree::Ptr KdTreePtr;
        typedef KdTree::ConstPtr KdTreeConstPtr;

        // defining squared distances type used in kdtree
        typedef std::vector<float> SquaredDistances;

        // defining indices types
        typedef std::vector<int> Indices;
        typedef boost::shared_ptr<Indices> IndicesPtr;
        typedef boost::shared_ptr<const IndicesPtr> IndicesConstPtr;

    // the list of object types
    typedef std::vector<std::string> ObjectTypeList;
    typedef boost::shared_ptr<ObjectTypeList> ObjectTypeListPtr;
    typedef std::set<std::string> ObjectTypeSet;
    typedef boost::shared_ptr<ObjectTypeSet> ObjectTypeSetPtr;
    typedef std::set<ObjectTypeSetPtr> ObjectTypePowerSet;
    typedef boost::shared_ptr<ObjectTypePowerSet> ObjectTypePowerSetPtr;

    // visualization
    typedef SimpleVector4 Color;

}

#include "next_best_view/pcl/RealObjectPoint.hpp"
#include "next_best_view/pcl/SpaceSamplePoint.hpp"
#include "next_best_view/pcl/DefaultViewportPoint.hpp"

#endif /* TYPEDEF_HPP_ */