types.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <VirtualRobot/MathTools.h>
 
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem/core/Time.h>
 
namespace armarx::navigation::memory
{
 
    struct Ellipsoid
    {
        Eigen::Isometry3f pose = Eigen::Isometry3f::Identity();
 
        Eigen::Vector2f radii = Eigen::Vector2f::Zero();
    };
 
    struct Circle
    {
        Eigen::Vector2f center = Eigen::Vector2f::Zero();
        float radius = 0.F;
    };
 
    struct LaserScannerFeature
    {
        using Points = std::vector<Eigen::Vector2f>;
        using Chain = Points;
 
        Points convexHull;
 
        Circle circle;
        Ellipsoid ellipsoid;
 
        Chain chain;
 
        Points points;
    };
 
    struct LaserScannerFeatures
    {
        // TODO(fabian.reister): framed pose
        std::string frame;
        Eigen::Isometry3f frameGlobalPose;
 
        std::vector<LaserScannerFeature> features;
 
 
        // std::vector<Ellipsoid> linesAsEllipsoids(float axisLength) const;
    };
 
 
} // namespace armarx::navigation::memory