28 #include <Eigen/Geometry>
30 #include <pcl/common/angles.h>
57 Eigen::Vector3f leftExtent,
58 Eigen::Vector3f rightExtent);
62 memoryx::EnvironmentalPrimitiveBasePtr primitive,
63 memoryx::EnvironmentalPrimitiveBaseList& intersectingPrimitives,
67 memoryx::EnvironmentalPrimitiveBaseList& primitives,
68 memoryx::EnvironmentalPrimitiveBasePtr primitive,
69 memoryx::EnvironmentalPrimitiveBaseList& intersectingPrimitives,
72 bool isSimilar(memoryx::EnvironmentalPrimitiveBasePtr leftPrimitive,
73 memoryx::EnvironmentalPrimitiveBasePtr rightPrimitive);
76 memoryx::EnvironmentalPrimitiveBaseList& primitives,
77 std::vector<memoryx::EntityBasePtr>& boxes,
78 memoryx::EnvironmentalPrimitiveSegmentBasePrx environmentalPrimitiveSegment);
81 Eigen::Vector3f projectVector(Eigen::Vector3f axis, Eigen::Vector3f u);
83 bool testPlane(memoryx::EnvironmentalPrimitiveBasePtr leftPrimitive,
84 memoryx::EnvironmentalPrimitiveBasePtr rightPrimitive);
85 bool testCylinder(memoryx::EnvironmentalPrimitiveBasePtr leftPrimitive,
86 memoryx::EnvironmentalPrimitiveBasePtr rightPrimitive);