HLR::PointCloud::Object Struct Reference

A class for mapping the ROS::Object defined in msg/Object.msg. More...

#include <Object.hpp>

Collaboration diagram for HLR::PointCloud::Object:

Public Types
using	Point = CGAL::Simple_cartesian< double >::Point_3
	Data type specifying a point in 3D space.
using	Polyhedron = CGAL::Surface_mesh< Point >
	Data type specifying a polyhedron.
using	Vector = CGAL::Simple_cartesian< double >::Vector_3
	Date type specifying a (physics) vector.

Public Member Functions
bool	operator== (const Object &rhs) const
	Compares each of the attributes for equality. More...
bool	operator!= (const Object &rhs) const
	Compares each of the attributes for inequality. More...
	operator HLR::Object () const
	Converts the booleans to the flag, and serializes the polyhedron.

Public Attributes
std::uint32_t	id
	Must be unique.
Polyhedron	polyhedron
	The polyhedron defining the Object.
std::optional< Vector >	speed
	The velocity in m/s at which the Object is moving the real world. More...
bool	is_cup
	Is true if Vision recognizes it as a cup.
bool	is_deleted
	Is true if the Object is not visible in the world anymore. More...
pcl::PointCloud< pcl::PointXYZ >	point_cloud
	PointCloud of the found object.
Point	middlepoint
	Contains middlepoint (x,y) of the complete object.
Point	centerpoint
	The centerpoint of the object. More...

Detailed Description

A class for mapping the ROS::Object defined in msg/Object.msg.

The ROS Object is mapped to this Object because the ROS Object works with bitflags. Because of this mapping the bitflag handling is done in one place in the code and code using Object don't need to handle bitflags.

Member Function Documentation

bool HLR::PointCloud::Object::operator!=

(

const Object &

rhs

)

const

Compares each of the attributes for inequality.

Parameters

rhs	The Object to compare this one with.

Returns

true if lhs != rhs.

bool HLR::PointCloud::Object::operator==

(

const Object &

rhs

)

const

Compares each of the attributes for equality.

Parameters

rhs	The Object to compare this one with.

Returns

true if lhs == rhs.

Member Data Documentation

Point HLR::PointCloud::Object::centerpoint

The centerpoint of the object.

The centerpoint is interpolated between two or more points.

bool HLR::PointCloud::Object::is_deleted

Is true if the Object is not visible in the world anymore.

This boolean will let anyone monitoring the change of the Object know that there is no Object anymore, and not that the Object isn't changed.

std::optional<Vector> HLR::PointCloud::Object::speed

The velocity in m/s at which the Object is moving the real world.

x, y and z will be set for the speed, hx, hy, hz and hw will be ignored.

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

• src/PointCloud/Object.hpp