26 #include <pcl/point_types.h>
28 #include <VirtualRobot/MathTools.h>
35 #include <RobotComponents/interface/components/GraspingManager/RobotPlacementInterface.h>
46 using Points = std::vector<Eigen::Vector2f>;
49 std::optional<VirtualRobot::MathTools::ConvexHull2D>
convexHull;
63 using Points = std::vector<Eigen::Vector2f>;
71 static std::optional<VirtualRobot::MathTools::ConvexHull2D>
73 static std::optional<Ellipsoid>
74 ellipsoid(
const std::optional<VirtualRobot::MathTools::ConvexHull2D>& hull);
76 static std::optional<Points>
78 const std::optional<VirtualRobot::MathTools::ConvexHull2D>&
convexHull,
83 std::vector<Features> features(
const LaserScan& scan)
const;
85 std::vector<LaserScan> detectClusters(
const LaserScan& scan)
const;