RobWorkProject  23.9.11-
Public Types | Public Member Functions | List of all members
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::Contour2DgetContour ()
 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

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