#include <extended_curved_polygon.h>

Public Types
typedef BoundingBox::OOBB	BB
typedef Slam_Surface::SurfaceTriSpline	SURFACE
Public Member Functions
bool	canMerge (const ex_curved_polygon &o, const float diff=0.001f, bool *sw=NULL) const
void	debug_form () const
	ex_curved_polygon (const cob_3d_mapping_msgs::CurvedPolygon &data)
	ex_curved_polygon (const ex_curved_polygon &o)
bool	extensionMatch (const ex_curved_polygon &o, const float thr, const float var) const
bool	fitsCurvature (const ex_curved_polygon &o, const float thr) const
const BB &	getBB () const
const ::std_msgs::ColorRGBA &	getColor () const
void	getControlPoints (std::vector< std::vector< Eigen::Vector3f > > &pts) const
float	getEnergy () const
const S_ID &	getID () const
Eigen::Vector3f	getNearestPoint () const
Eigen::Vector3f	getNearestTransformedPoint (const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr) const
const Outline &	getOutline () const
const std::vector < Eigen::Vector3f > &	getPoints3D () const
const std::vector < cob_3d_mapping_msgs::simalarity_score > &	getScore () const
const SURFACE &	getSurface () const
void	getTriangles (std::vector< Eigen::Vector3f > &tri) const
float	getWeight () const
Slam_Surface::Surface::SWINDOW	getWindow () const
bool	invalid () const
bool	matchForm (const ex_curved_polygon &o) const
float	matchFormf (const ex_curved_polygon &o) const
bool	merge (const ex_curved_polygon &o1, const ex_curved_polygon &o2)
bool	op_plus (ex_curved_polygon o, int &status)
bool	operator+= (ex_curved_polygon o)
ex_curved_polygon &	operator= (const ex_curved_polygon &o)
void	printEnergy () const
void	setColor (const ::std_msgs::ColorRGBA &c)
void	transform (const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr, const float var_R, const float var_T)
void	triangle (std::vector< Eigen::Vector3f > &tri, const TPPLPoint &p1, const TPPLPoint &p2, const TPPLPoint &p3, const int depth=0) const
virtual	~ex_curved_polygon ()
Private Member Functions
float	modelAt (const float x, const float y)
void	update ()
void	update_BB ()
void	update_points3d ()
Private Attributes
BB	bb_
::std_msgs::ColorRGBA	color_
cob_3d_mapping_msgs::CurvedPolygon	data_
Classification::Form	form_
S_ID	ID_
Eigen::Vector3f	mid_point_
Outline	outline_
std::vector< Eigen::Vector3f >	points3d_
boost::shared_ptr< SURFACE >	surface_

Detailed Description

Definition at line 91 of file extended_curved_polygon.h.

Member Typedef Documentation

typedef BoundingBox::OOBB Slam_CurvedPolygon::ex_curved_polygon::BB

Definition at line 97 of file extended_curved_polygon.h.

typedef Slam_Surface::SurfaceTriSpline Slam_CurvedPolygon::ex_curved_polygon::SURFACE

Definition at line 96 of file extended_curved_polygon.h.

Constructor & Destructor Documentation

Slam_CurvedPolygon::ex_curved_polygon::ex_curved_polygon ( const cob_3d_mapping_msgs::CurvedPolygon & data ) [inline]

Definition at line 289 of file extended_curved_polygon.h.

Slam_CurvedPolygon::ex_curved_polygon::ex_curved_polygon ( const ex_curved_polygon & o ) [inline]

Definition at line 301 of file extended_curved_polygon.h.

virtual Slam_CurvedPolygon::ex_curved_polygon::~ex_curved_polygon ( ) [inline, virtual]

Definition at line 321 of file extended_curved_polygon.h.

Member Function Documentation

bool Slam_CurvedPolygon::ex_curved_polygon::canMerge	(	const ex_curved_polygon &	o,
		const float	diff = `0.001f`,
		bool *	sw = `NULL`
	)		const `[inline]`

Definition at line 813 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::debug_form ( ) const [inline]

Definition at line 667 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::extensionMatch	(	const ex_curved_polygon &	o,
		const float	thr,
		const float	var
	)		const `[inline]`

Definition at line 390 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::fitsCurvature	(	const ex_curved_polygon &	o,
		const float	thr
	)		const `[inline]`

checks intersection of two bounding boxes

"add" adds value, so flat planes can intersect too

bool intersectsBB(const ex_curved_polygon &o, const float add=0) const { std::cout<<"min\n"<<bb_min_<<"\n"; std::cout<<"max\n"<<bb_max_<<"\n"; std::cout<<"min\n"<<o.bb_min_<<"\n"; std::cout<<"max\n"<<o.bb_max_<<"\n\n"; return bb_min_(0)<=o.bb_max_(0)+add && bb_max_(0)+add>=o.bb_min_(0) && bb_min_(1)<=o.bb_max_(1)+add && bb_max_(1)+add>=o.bb_min_(1) && bb_min_(2)<=o.bb_max_(2)+add && bb_max_(2)+add>=o.bb_min_(2) ; }

Definition at line 382 of file extended_curved_polygon.h.

const BB& Slam_CurvedPolygon::ex_curved_polygon::getBB ( ) const [inline]

Definition at line 325 of file extended_curved_polygon.h.

const ::std_msgs::ColorRGBA& Slam_CurvedPolygon::ex_curved_polygon::getColor ( ) const [inline]

Definition at line 990 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::getControlPoints ( std::vector< std::vector< Eigen::Vector3f > > & pts ) const [inline]

Definition at line 798 of file extended_curved_polygon.h.

float Slam_CurvedPolygon::ex_curved_polygon::getEnergy ( ) const [inline]

Definition at line 706 of file extended_curved_polygon.h.

const S_ID& Slam_CurvedPolygon::ex_curved_polygon::getID ( ) const [inline]

Definition at line 355 of file extended_curved_polygon.h.

Eigen::Vector3f Slam_CurvedPolygon::ex_curved_polygon::getNearestPoint ( ) const [inline]

Definition at line 357 of file extended_curved_polygon.h.

Eigen::Vector3f Slam_CurvedPolygon::ex_curved_polygon::getNearestTransformedPoint	(	const Eigen::Matrix3f &	rot,
		const Eigen::Vector3f &	tr
	)		const `[inline]`

Definition at line 358 of file extended_curved_polygon.h.

const Outline& Slam_CurvedPolygon::ex_curved_polygon::getOutline ( ) const [inline]

Definition at line 987 of file extended_curved_polygon.h.

const std::vector<Eigen::Vector3f>& Slam_CurvedPolygon::ex_curved_polygon::getPoints3D ( ) const [inline]

Definition at line 993 of file extended_curved_polygon.h.

const std::vector<cob_3d_mapping_msgs::simalarity_score>& Slam_CurvedPolygon::ex_curved_polygon::getScore ( ) const [inline]

Definition at line 363 of file extended_curved_polygon.h.

const SURFACE& Slam_CurvedPolygon::ex_curved_polygon::getSurface ( ) const [inline]

Definition at line 988 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::getTriangles ( std::vector< Eigen::Vector3f > & tri ) const [inline]

Definition at line 747 of file extended_curved_polygon.h.

float Slam_CurvedPolygon::ex_curved_polygon::getWeight ( ) const [inline]

Definition at line 707 of file extended_curved_polygon.h.

Slam_Surface::Surface::SWINDOW Slam_CurvedPolygon::ex_curved_polygon::getWindow ( ) const [inline]

Definition at line 99 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::invalid ( ) const [inline]

Definition at line 959 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::matchForm ( const ex_curved_polygon & o ) const [inline]

Definition at line 675 of file extended_curved_polygon.h.

float Slam_CurvedPolygon::ex_curved_polygon::matchFormf ( const ex_curved_polygon & o ) const [inline]

Definition at line 699 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::merge	(	const ex_curved_polygon &	o1,
		const ex_curved_polygon &	o2
	)		`[inline]`

Definition at line 398 of file extended_curved_polygon.h.

float Slam_CurvedPolygon::ex_curved_polygon::modelAt	(	const float	x,
		const float	y
	)		`[inline, private]`

Definition at line 128 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::op_plus	(	ex_curved_polygon	o,
		int &	status
	)		`[inline]`

Definition at line 568 of file extended_curved_polygon.h.

bool Slam_CurvedPolygon::ex_curved_polygon::operator+= ( ex_curved_polygon o ) [inline]

update parameters, ... from other obj. (TODO:)

Definition at line 563 of file extended_curved_polygon.h.

ex_curved_polygon& Slam_CurvedPolygon::ex_curved_polygon::operator= ( const ex_curved_polygon & o ) [inline]

Definition at line 306 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::printEnergy ( ) const [inline]

Definition at line 708 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::setColor ( const ::std_msgs::ColorRGBA & c ) [inline]

Definition at line 991 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::transform	(	const Eigen::Matrix3f &	rot,
		const Eigen::Vector3f &	tr,
		const float	var_R,
		const float	var_T
	)		`[inline]`

Definition at line 330 of file extended_curved_polygon.h.

void Slam_CurvedPolygon::ex_curved_polygon::triangle	(	std::vector< Eigen::Vector3f > &	tri,
		const TPPLPoint &	p1,
		const TPPLPoint &	p2,
		const TPPLPoint &	p3,
		const int	depth = `0`
	)		const `[inline]`