ConeEvaluator Class Reference

class that evaluates the cluster as a cone or not More...

#include <cone_evaluator.hpp>

Collaboration diagram for ConeEvaluator:

Public Member Functions
	ConeEvaluator (std::shared_ptr< EvaluatorParameters > params)
	Constructs a new DeviationValidator object with specified intervals on the deviation.
bool	evaluateCluster (Cluster &cluster, const GroundGrid &ground_grid)
	Perform the cluster evaluation, guaranteeing they pass all validators.

Private Member Functions
bool	close_to_ground (Cluster &cluster, const GroundGrid &ground_grid) const
	Check if the cluster is close to the ground.
bool	cylinder_fits_cone (Cluster &cluster) const
	Check if a cylinder fits the cone dimensions.
bool	npoints_valid (Cluster &cluster) const
	Check if the number of points in the cluster is valid, according to the distance.
	FRIEND_TEST (ConeEvaluatorTest, CloseToGroundTrue)
	FRIEND_TEST (ConeEvaluatorTest, CloseToGroundFalse)
	FRIEND_TEST (ConeEvaluatorTest, CylinderFitsConeTrue)
	FRIEND_TEST (ConeEvaluatorTest, CylinderFitsConeFalse)
	FRIEND_TEST (ConeEvaluatorTest, NPointsValidTrue)
	FRIEND_TEST (ConeEvaluatorTest, NPointsValidFalse)

Private Attributes
std::shared_ptr< EvaluatorParameters >	params_

Detailed Description

class that evaluates the cluster as a cone or not

Definition at line 17 of file cone_evaluator.hpp.

Constructor & Destructor Documentation

ConeEvaluator()

ConeEvaluator::ConeEvaluator

(

std::shared_ptr< EvaluatorParameters >

params

)

Constructs a new DeviationValidator object with specified intervals on the deviation.

Parameters

params

Struct with all validators, weights and minimum confidence.

Definition at line 3 of file cone_evaluator.cpp.

Member Function Documentation

close_to_ground()

bool ConeEvaluator::close_to_ground ( Cluster &  cluster, const GroundGrid &  ground_grid  ) const

private

Check if the cluster is close to the ground.

Parameters

cluster	Cluster to evaluate
ground_grid	Ground grid to use for ground height lookup

Definition at line 5 of file cone_evaluator.cpp.

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cylinder_fits_cone()

bool ConeEvaluator::cylinder_fits_cone ( Cluster &  cluster ) const

private

Check if a cylinder fits the cone dimensions.

Parameters

cluster

Cluster to evaluate

Definition at line 37 of file cone_evaluator.cpp.

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evaluateCluster()

bool ConeEvaluator::evaluateCluster	(	Cluster &	cluster,
		const GroundGrid &	ground_grid
	)

Perform the cluster evaluation, guaranteeing they pass all validators.

Parameters

cluster	Cluster to evaluate.
ground_grid	The ground grid to use for ground proximity checks.

Returns

True if cluster is a valid cone, false otherwise.

Definition at line 93 of file cone_evaluator.cpp.

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FRIEND_TEST() [1/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , CloseToGroundFalse    )

private

FRIEND_TEST() [2/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , CloseToGroundTrue    )

private

FRIEND_TEST() [3/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , CylinderFitsConeFalse    )

private

FRIEND_TEST() [4/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , CylinderFitsConeTrue    )

private

FRIEND_TEST() [5/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , NPointsValidFalse    )

private

FRIEND_TEST() [6/6]

ConeEvaluator::FRIEND_TEST ( ConeEvaluatorTest  , NPointsValidTrue    )

private

npoints_valid()

bool ConeEvaluator::npoints_valid ( Cluster &  cluster ) const

private

Check if the number of points in the cluster is valid, according to the distance.

Parameters

cluster

Cluster to evaluate

Definition at line 79 of file cone_evaluator.cpp.

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Member Data Documentation

params_

std::shared_ptr<EvaluatorParameters> ConeEvaluator::params_

private

Definition at line 35 of file cone_evaluator.hpp.

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

• src/perception/include/cone_evaluator/cone_evaluator.hpp
• src/perception/src/cone_evaluator/cone_evaluator.cpp