Abstract Class representing the logic for estimating the center position of a cone. More...

#include <center_calculation.hpp>

Inheritance diagram for CenterCalculator:

Collaboration diagram for CenterCalculator:

Public Member Functions
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.

Detailed Description

Abstract Class representing the logic for estimating the center position of a cone.

This class provides an interface for various methods to estimate the center position of a cone based on its point cloud data, optionally considering a ground plane.

Definition at line 14 of file center_calculation.hpp.

Member Function Documentation

◆ calculate_center()

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

pure virtual

Estimates the center position of a cone.

This method takes a point cloud representing a cone's cluster and optionally a ground plane to refine the center estimation. The center position is returned as a 4-dimensional vector (Eigen::Vector4f).

Parameters

point_cloud	Pointer to the point cloud representing the cone's cluster.
plane	Plane representing the ground (optional). Default is an empty Plane object.

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

Implemented in CentroidCalculator, and CircunferenceCenterCalculator.

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

src/perception/include/center_calculation/center_calculation.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ calculate_center()