pointcloud_model_generator.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
38 #define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
39 
40 #include <pcl/point_types.h>
41 #include <pcl/point_cloud.h>
42 
43 
44 namespace jsk_footstep_planner
45 {
46 
53  {
54  public:
56  typedef pcl::PointNormal PointT;
57  virtual void generate(const std::string& model_name,
58  pcl::PointCloud<PointT>& output,
59  double hole_rate = 0.0);
60 
61  static std::vector<std::string> supportedModels() {
62  std::vector<std::string> ret;
63  ret.push_back("flat");
64  ret.push_back("stairs");
65  ret.push_back("flat");
66  ret.push_back("gaussian");
67  return ret;
68  }
69  protected:
70  virtual void flat(pcl::PointCloud<PointT>& output,
71  double hole_rate);
72  virtual void stairs(pcl::PointCloud<PointT>& output,
73  double hole_rate);
74  virtual void hills(pcl::PointCloud<PointT>& output,
75  double hole_rate);
76  virtual void gaussian(pcl::PointCloud<PointT>& output,
77  double hole_rate);
78  virtual void flatPole(pcl::PointCloud<PointT>& output,
79  double hole_rate);
80  virtual void addPole(pcl::PointCloud<PointT>& output,
81  const Eigen::Vector3f& center,
82  const double width,
83  const double height);
84  private:
85 
86  };
87 }
88 
89 #endif
virtual void hills(pcl::PointCloud< PointT > &output, double hole_rate)
virtual void gaussian(pcl::PointCloud< PointT > &output, double hole_rate)
virtual void stairs(pcl::PointCloud< PointT > &output, double hole_rate)
void output(int index, double value)
virtual void addPole(pcl::PointCloud< PointT > &output, const Eigen::Vector3f &center, const double width, const double height)
virtual void generate(const std::string &model_name, pcl::PointCloud< PointT > &output, double hole_rate=0.0)
boost::shared_ptr< PointCloudModelGenerator > Ptr
height
just a pointcloud generator for sample usage
virtual void flatPole(pcl::PointCloud< PointT > &output, double hole_rate)
static std::vector< std::string > supportedModels()
virtual void flat(pcl::PointCloud< PointT > &output, double hole_rate)
width


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28