d6/dfe/center__calculation_8hpp_source.html

#pragma once


#include <sensor_msgs/msg/point_cloud2.hpp>

#include <string>

#include <utils/lidar_point.hpp>

#include <utils/plane.hpp>


class CenterCalculator {

public:

  virtual Eigen::Vector4f calculate_center(

      const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,

      const std::vector<int>& point_indices, const Plane& plane = Plane()) const = 0;

};


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

CenterCalculator::calculate_center
virtual Eigen::Vector4f calculate_center(const sensor_msgs::msg::PointCloud2::SharedPtr &point_cloud, const std::vector< int > &point_indices, const Plane &plane=Plane()) const =0
Estimates the center position of a cone.

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

lidar_point.hpp

plane.hpp