Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * visualization_thread_base.h - Visualization base class 00004 * 00005 * Created: Fri Nov 11 00:11:23 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 ****************************************************************************/ 00008 00009 /* This program is free software; you can redistribute it and/or modify 00010 * it under the terms of the GNU General Public License as published by 00011 * the Free Software Foundation; either version 2 of the License, or 00012 * (at your option) any later version. 00013 * 00014 * This program is distributed in the hope that it will be useful, 00015 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00017 * GNU Library General Public License for more details. 00018 * 00019 * Read the full text in the LICENSE.GPL file in the doc directory. 00020 */ 00021 00022 #ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 00023 #define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 00024 00025 #ifndef HAVE_VISUAL_DEBUGGING 00026 # error TabletopVisualizationThread was disabled by build flags 00027 #endif 00028 00029 #include <Eigen/Core> 00030 #include <Eigen/StdVector> 00031 #include <utils/time/time.h> 00032 00033 class TabletopVisualizationThreadBase 00034 { 00035 public: 00036 /** Aligned vector of vectors/points. */ 00037 typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > V_Vector4f; 00038 // Eigen::aligned_allocator<Eigen::Vector4f> 00039 00040 virtual ~TabletopVisualizationThreadBase(); 00041 00042 virtual void visualize(const std::string &frame_id, 00043 Eigen::Vector4f &table_centroid, 00044 Eigen::Vector4f &normal, 00045 V_Vector4f &table_hull_vertices, 00046 V_Vector4f &table_model_vertices, 00047 V_Vector4f &good_table_hull_edges, 00048 V_Vector4f ¢roids) throw() = 0; 00049 }; 00050 00051 #endif