46 lines
1 KiB
Text
46 lines
1 KiB
Text
|
#ifndef __CONVEX_PLANE_H__
|
||
|
|
#define __CONVEX_PLANE_H__
|
||
|
|
|
||
|
|
#include "slam6d/point.h"
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
#include <list>
|
||
|
|
using std::vector;
|
||
|
|
using std::list;
|
||
|
|
|
||
|
|
#include <set>
|
||
|
|
using std::set;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
class ConvexPlane {
|
||
|
|
protected:
|
||
|
|
ConvexPlane() {};
|
||
|
|
|
||
|
|
public:
|
||
|
|
static bool furtherleft(double * point, double * start, double * end);
|
||
|
|
static void JarvisMarchConvexHull(list<double*> &points, vector<double*> &convex_hull);
|
||
|
|
ConvexPlane(double _n[3], double _rho, char _direction, vector<double*> _convex_hull);
|
||
|
|
ConvexPlane(double plane[4], vector<Point> &points );
|
||
|
|
ConvexPlane(double plane[4]);
|
||
|
|
ConvexPlane(vector<ConvexPlane*> &partialplanes);
|
||
|
|
~ConvexPlane();
|
||
|
|
void writePlane(std::string, int counter);
|
||
|
|
void writeNormal(std::string, int counter);
|
||
|
|
vector<double> getConvexHull();
|
||
|
|
void getNormal(double* normal, double* origin);
|
||
|
|
void project(const double *p, double *p1);
|
||
|
|
|
||
|
|
double n[3];
|
||
|
|
double rho;
|
||
|
|
char direction;
|
||
|
|
int pointsize;
|
||
|
|
vector<double*> convex_hull;
|
||
|
|
bool isWall();
|
||
|
|
bool isHorizontal();
|
||
|
|
void horizontalize();
|
||
|
|
void verticalize();
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|