Represents the target object as it is considered in the FOG framework. More...

#include <fog/object.h>

Public Types
enum	Type { FLAT = 0, TWODIM = 1, NONFLAT = 2 }
	The type of the object (Flat, Two dimensional or non-flat as defined by function $\phi(d, \mathcal{H})$ . More...

Public Member Functions
	Object (const PointCloud &the_point_cloud)

	~Object ()

void	extract (const Surface &surface)

Object::Type	checkFlatness (const Surface &surface)

std::vector< Eigen::Vector3d >	extractOpposableDirections (const Surface &surface)

void	filterPointCloud (const Eigen::Vector4f &leaf_size)

Public Attributes
std::string	label
	The name/label of the object, if it is known. More...

pcl::PointCloud< pcl::PointXYZ >	point_cloud
	The full point cloud of the object. Represents the set of points $\mathbf{o}_{p, i}$ . More...

Eigen::Vector3d	position
	The position of the object w.r.t. the world frame. More...

Eigen::Quaterniond	orientation
	The orientation of the object w.r.t. the world frame. More...

Eigen::Vector3d	bounding_box
	The bounding box of the object. Represents the vector $\mathbf{o}_b$ . More...

std::vector< Eigen::Vector3d >	usable_directions
	The set of the usable directions $\mathcal{O}_u$ . More...

Type	flatness

Friends
std::ostream &	operator<< (std::ostream &, const Object &)

Detailed Description

Represents the target object as it is considered in the FOG framework.

Member Enumeration Documentation

enum fog::Object::Type

The type of the object (Flat, Two dimensional or non-flat as defined by function $\phi(d, \mathcal{H})$ .

Enumerator
FLAT	The object is flat.
TWODIM	The object is two-dimentional.
NONFLAT	The object is non-flat.

Constructor & Destructor Documentation

fog::Object::Object ( const PointCloud & the_point_cloud )

fog::Object::~Object ( )

inline

Member Function Documentation

Object::Type fog::Object::checkFlatness ( const Surface & surface )

void fog::Object::extract ( const Surface & surface )

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std::vector< Eigen::Vector3d > fog::Object::extractOpposableDirections ( const Surface & surface )

void fog::Object::filterPointCloud ( const Eigen::Vector4f & leaf_size )

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	s,
		const Object &	object
	)

friend

Member Data Documentation

Eigen::Vector3d fog::Object::bounding_box

The bounding box of the object. Represents the vector $\mathbf{o}_b$ .

Type fog::Object::flatness

std::string fog::Object::label

The name/label of the object, if it is known.

Eigen::Quaterniond fog::Object::orientation

The orientation of the object w.r.t. the world frame.

pcl::PointCloud<pcl::PointXYZ> fog::Object::point_cloud

The full point cloud of the object. Represents the set of points $\mathbf{o}_{p, i}$ .

Eigen::Vector3d fog::Object::position

The position of the object w.r.t. the world frame.

std::vector<Eigen::Vector3d> fog::Object::usable_directions

The set of the usable directions $\mathcal{O}_u$ .

Public Types

Public Member Functions