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