d0/df6/centroid__calculation_8hpp_source.html

#pragma once

#include <center_calculation/center_calculation.hpp>


class CentroidCalculator : public CenterCalculator {

public:

  Eigen::Vector4f calculate_center(const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,

                                   const std::vector<int>& point_indices,

                                   const Plane& plane = Plane()) const override;

};


center_calculation.hpp

CenterCalculator
Abstract Class representing the logic for estimating the center position of a cone.
Definition center_calculation.hpp:14

CentroidCalculator
Concrete Class representing a centroid-based method for estimating the center position of a cone.
Definition centroid_calculation.hpp:11

CentroidCalculator::calculate_center
Eigen::Vector4f calculate_center(const sensor_msgs::msg::PointCloud2::SharedPtr &point_cloud, const std::vector< int > &point_indices, const Plane &plane=Plane()) const override
Estimates the center position of a cone using centroid calculation.
Definition centroid_calculation.cpp:3

Plane
The Plane class represents a 3D plane defined by its equation ax + by + cz + d = 0.
Definition plane.hpp:12