Concrete class representing a circumference-based method for estimating the center position of a cone. More...

#include <circunference_center_calculation.hpp>

Inheritance diagram for CircunferenceCenterCalculator:

Collaboration diagram for CircunferenceCenterCalculator:

Public Member Functions
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 a circumference-based approach.

Detailed Description

Concrete class representing a circumference-based method for estimating the center position of a cone.

This class implements the CenterCalculator interface to provide a method for estimating the center position of a cone based on its point cloud data, using a circumference-based approach.

Definition at line 15 of file circunference_center_calculation.hpp.

Member Function Documentation

◆ calculate_center()

Eigen::Vector4f CircunferenceCenterCalculator::calculate_center	(	const sensor_msgs::msg::PointCloud2::SharedPtr &	point_cloud,
		const std::vector< int > &	point_indices,
		const Plane &	plane = `Plane()`
	)		const

overridevirtual

Estimates the center position of a cone using a circumference-based approach.

This method estimates the center position of a cone by approximating its center as the center of a circumference that cuts the cone.

Parameters

point_cloud	Pointer to the point cloud representing the cone's cluster.
plane	Plane representing the ground. (Mandatory)

Returns: Eigen::Vector4f representing the estimated center of the cone.

Note: The plane parameter is mandatory for this method.

Implements CenterCalculator.

Definition at line 3 of file circunference_center_calculation.cpp.

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The documentation for this class was generated from the following files:

src/perception/include/center_calculation/circunference_center_calculation.hpp
src/perception/src/center_calculation/circunference_center_calculation.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ calculate_center()