Flat Object Grasping Library (FOG)
0.2.1
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Represents the support surface as it is considered in the FOG framework, as rectangle with 4 limits. More...
#include <fog/surface.h>
Public Member Functions | |
Surface (const std::vector< Point3 > &surface_points) | |
The default constructor. More... | |
~Surface () | |
void | extract () |
Public Attributes | |
std::vector< Point3 > | edges |
The four co-planar points which defines the rectangular surface plane. More... | |
Point3 | centroid |
The centroid of the fog::Surface::edges which belongs to the surface. Represents the vector. More... | |
Vector3 | normal_vector |
The normal vector of the surface. Represents the vector. More... | |
std::vector< Vector3 > | limit_vectors |
The limit vectors . More... | |
std::vector< Vector3 > | boundary_vectors |
The boundary vectors . More... | |
Friends | |
std::ostream & | operator<< (std::ostream &, const Surface &) |
Represents the support surface as it is considered in the FOG framework, as rectangle with 4 limits.
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inline |
The default constructor.
Initialized the fog::Surface::edges, the fog::Surface::boundary_vectors and fog::Surface::limit_vectors to 4.
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inline |
void fog::Surface::extract | ( | ) |
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friend |
std::vector<Vector3> fog::Surface::boundary_vectors |
The boundary vectors .
Point3 fog::Surface::centroid |
The centroid of the fog::Surface::edges which belongs to the surface. Represents the vector.
std::vector<Point3> fog::Surface::edges |
The four co-planar points which defines the rectangular surface plane.
std::vector<Vector3> fog::Surface::limit_vectors |
The limit vectors .
Vector3 fog::Surface::normal_vector |
The normal vector of the surface. Represents the vector.