Program Listing for File segmentation.hpp

↰ Return to documentation for file (/tmp/ws/src/laser_segmentation/include/laser_segmentation/segmentation/segmentation.hpp)

/*
 * SEGMENTATION ALGORITHM CLASS
 *
 * Copyright (c) 2017-2022 Alberto José Tudela Roldán <ajtudela@gmail.com>
 *
 * This file is part of laser_segmentation.
 *
 * All rights reserved.
 *
 */

#ifndef LASER_SEGMENTATION__SEGMENTATION_HPP_
#define LASER_SEGMENTATION__SEGMENTATION_HPP_

// C++
#include <memory>
#include <string>

// SIMPLE LASER GEOMETRY
#include "slg_msgs/point2D.hpp"
#include "slg_msgs/segment2D.hpp"

/* Abstract class for a generic segmentation algorithm. */
class Segmentation{
    public:
        // Destructor.
        virtual ~Segmentation(){};

        // Initialize segmentation algorithm.
        virtual void initialize_segmentation(double distance, double angle_resolution, double noise_reduction, std::string method = "") = 0;

        // Segment the given list of points. Consecutive points are assumed to be adjacent.
        virtual void perform_segmentation(const std::vector<slg::Point2D> points, std::vector<slg::Segment2D>& segments) = 0;

        // Typedefs for easier readability.
        typedef std::shared_ptr<Segmentation>SharedPtr;

    protected:
        // Check if the point is valid (i.e. not out-of-range)
        inline bool is_valid(const slg::Point2D point){
            return !point.is_NaN();
        }
};

#endif  // LASER_SEGMENTATION__SEGMENTATION_HPP_