HeightValidator Class Reference

The HeightValidator class is responsible for validating cones based on their height. More...

#include <height_validator.hpp>

Inheritance diagram for HeightValidator:

Collaboration diagram for HeightValidator:

Public Member Functions
	HeightValidator (double min_height, double large_max_height, double small_max_height, double height_cap)
	Constructs a new HeightValidator object with the specified height threshold.
std::vector< double >	coneValidator (Cluster *cone_point_cloud, Plane &plane) const override
	Validates a cone based on its height relative to a plane.
virtual	~HeightValidator ()=default
	Virtual destructor for HeightValidator.

Private Attributes
double	_min_height_
	Min Height threshold for cone validation *‍/.
double	_large_max_height_
	Max Height threshold for large cones *‍/.
double	_small_max_height_
	Max Height treshhold for small cones *‍/.
double	_height_cap_
	Minimum ratio result needed for return values to not be 0. *‍/.

Detailed Description

The HeightValidator class is responsible for validating cones based on their height.

This class inherits from the ConeValidator class and overrides the coneValidator method to provide height-based validation logic.

Definition at line 11 of file height_validator.hpp.

Constructor & Destructor Documentation

HeightValidator()

HeightValidator::HeightValidator ( double  min_height, double  large_max_height, double  small_max_height, double  height_cap  )

explicit

Constructs a new HeightValidator object with the specified height threshold.

Parameters

min_height	Min Height threshold for cone validation
max_height	Max Height threshold for cone validation
small_max_height	Max Height treshhold for small cones
height_cap	Minimum ratio result needed for return values to not be 0

Definition at line 3 of file height_validator.cpp.

~HeightValidator()

virtual HeightValidator::~HeightValidator ( )

virtualdefault

Virtual destructor for HeightValidator.

Member Function Documentation

coneValidator()

std::vector< double > HeightValidator::coneValidator ( Cluster *  cone_point_cloud, Plane &  plane  ) const

overridevirtual

Validates a cone based on its height relative to a plane.

This method overrides the coneValidator method of the base class ConeValidator. It validates whether the given cone, represented by a point cloud cluster, meets the height criteria with respect to the provided plane.

Parameters

cone_point_cloud	Pointer to a Cluster object representing the point cloud of the cone.
plane	The plane against which the cone's height is evaluated.

Returns

vector containing: Index 0 -> the ratio between the clusters height and the limit, 1 if inside. Index 1 -> if in height interval, how close is it to the maximum height, else 0.

Implements ConeValidator.

Definition at line 10 of file height_validator.cpp.

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Member Data Documentation

_height_cap_

double HeightValidator::_height_cap_

private

Minimum ratio result needed for return values to not be 0. *‍/.

Definition at line 49 of file height_validator.hpp.

_large_max_height_

double HeightValidator::_large_max_height_

private

Max Height threshold for large cones *‍/.

Definition at line 47 of file height_validator.hpp.

_min_height_

double HeightValidator::_min_height_

private

Min Height threshold for cone validation *‍/.

Definition at line 46 of file height_validator.hpp.

_small_max_height_

double HeightValidator::_small_max_height_

private

Max Height treshhold for small cones *‍/.

Definition at line 48 of file height_validator.hpp.

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

• src/perception/include/cone_validator/height_validator.hpp
• src/perception/src/cone_validator/height_validator.cpp