3dpcp/.svn/pristine/6e/6e8d8a55ad58bc84625098471202e36d9714305e.svn-base
2012-09-16 14:33:11 +02:00

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#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