impl/abstract_mediator.cpp
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2 
3 
4 std::vector<pcl::PointXYZ> Abstract_mediator::generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution){
5  std::vector<pcl::PointXYZ> ground_plane;
6 
7  for (float x = origin.getX() - diameter * 1.5; x <= origin.getX() + diameter * 1.5; x += resolution){
8  for (float y = origin.getY() - diameter * 1.5; y <= origin.getY() + diameter * 1.5; y += resolution){
9  pcl::PointXYZ point(x,y, 0.4425f);
10  ground_plane.push_back(point);
11  }
12  }
13  return ground_plane;
14 }
15 
16 pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud(std::vector<pcl::PointXYZ>& vector){
17  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(new pcl::PointCloud< pcl::PointXYZ >);
18  for(pcl::PointXYZ& point : vector)
19  task_voxel->push_back(point);
20 
21  return task_voxel;
22 }
Abstract_mediator::vector_to_cloud
pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)
Definition: impl/abstract_mediator.cpp:16
abstract_mediator.h
Abstract_mediator::generate_Ground
std::vector< pcl::PointXYZ > generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution)
Definition: impl/abstract_mediator.cpp:4


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43