Contour2DInfoMap Class Reference

class for analysing 2d contours. More...

#include <Contour2DInfoMap.hpp>

Public Types
typedef std::vector< rw::sensor::Contact2D * >	ContactPtrList
	2d contact pointer list

Public Member Functions
	Contour2DInfoMap (int resolution=100)
	constructor More...
virtual	~Contour2DInfoMap ()
	destructor
ContactPtrList	getCNormals (double nAngle, double margin, double thres)
	get all contacts that has a normal with an angle nAngle +-thres relative to the direction vector (1,0).
void	reset (const rw::geometry::Contour2D &contor)
	initialize the contour2d map with a contour
void	printToFile (const std::string &file)
	writes this contour information to file More...
double	getMinCurvature ()
	get min curvature of contour More...
double	getMaxCurvature ()
	get max curvature of contour More...
double	getAvgCurvature ()
	get average curvature of contour More...
const rw::geometry::Contour2D &	getContour ()
	get the 2d contour More...

Detailed Description

class for analysing 2d contours.

Constructor & Destructor Documentation

Contour2DInfoMap()

Contour2DInfoMap

(

int

resolution = 100

)

constructor

Parameters

resolution

[in] the resolution of the dicretisation of the polar coordinates.

Member Function Documentation

getAvgCurvature()

double getAvgCurvature ( )

inline

get average curvature of contour

Returns

average curvature

getContour()

const rw::geometry::Contour2D& getContour ( )

inline

get the 2d contour

Returns

2d contour

getMaxCurvature()

double getMaxCurvature ( )

inline

get max curvature of contour

Returns

max curvature

getMinCurvature()

double getMinCurvature ( )

inline

get min curvature of contour

Returns

min curvature

printToFile()

void printToFile

(

const std::string &

file

)

writes this contour information to file

Parameters

file	[in] name of file

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

• Contour2DInfoMap.hpp