Concrete Class representing a centroid-based method for estimating the center position of a cone. More...

#include <centroid_calculation.hpp>

Inheritance diagram for CentroidCalculator:

Collaboration diagram for CentroidCalculator:

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 centroid calculation.

Detailed Description

Concrete Class representing a centroid-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 centroid calculation.

Definition at line 11 of file centroid_calculation.hpp.

Member Function Documentation

◆ calculate_center()

Eigen::Vector4f CentroidCalculator::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 centroid calculation.

This method estimates the center position of a cone by calculating the centroid of its point cloud data.

Parameters

point_cloud	Pointer to the point cloud representing the cone's cluster.
plane	Plane representing the ground [Not used in this concrete implementation]

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

Implements CenterCalculator.

Definition at line 3 of file centroid_calculation.cpp.

Here is the call graph for this function:

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ calculate_center()