grid_line.cpp
Go to the documentation of this file.
1 // -*- mode: C++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2014, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 
37 
38 namespace jsk_recognition_utils
39 {
40  GridLine::GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b)
41  : from(a.getVector3fMap()), to(b.getVector3fMap()), d_(from - to)
42  {
43  d_.normalized();
44  }
45 
47  {
48 
49  }
50 
51  // bool GridLine::penetrateGrid(const Eigen::Vector3f A,
52  // const Eigen::Vector3f B,
53  // const Eigen::Vector3f C,
54  // const Eigen::Vector3f D)
55  // {
56  // Eigen::Vector3f Across = (A - from).cross(d_);
57  // Eigen::Vector3f Bcross = (B - from).cross(d_);
58  // Eigen::Vector3f Ccross = (C - from).cross(d_);
59  // Eigen::Vector3f Dcross = (D - from).cross(d_);
60  // bool ab_direction = Across.dot(Bcross) < 0;
61  // bool ac_direction = Across.dot(Ccross) < 0;
62  // bool ad_direction = Across.dot(Dcross) < 0;
63  // if ((ab_direction == ac_direction) && (ab_direction == ad_direction)) {
64  // return false;
65  // }
66  // else {
67  // return true;
68  // }
69  // }
70 
71  bool GridLine::penetrateGrid(const pcl::PointXYZRGB& A,
72  const pcl::PointXYZRGB& B,
73  const pcl::PointXYZRGB& C,
74  const pcl::PointXYZRGB& D)
75  {
76  return penetrateGrid(A.getVector3fMap(),
77  B.getVector3fMap(),
78  C.getVector3fMap(),
79  D.getVector3fMap());
80  }
81 }
const Eigen::Vector3f d_
Definition: grid_line.h:98
GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b)
Definition: grid_line.cpp:40
virtual bool penetrateGrid(const pcl::PointXYZRGB &A, const pcl::PointXYZRGB &B, const pcl::PointXYZRGB &C, const pcl::PointXYZRGB &D)
Definition: grid_line.cpp:71


jsk_recognition_utils
Author(s):
autogenerated on Tue Mar 3 2020 03:59:38