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RobWorkProject
23.9.11-
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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... | |
class for analysing 2d contours.
Contour2DInfoMap | ( | int | resolution = 100 | ) |
constructor
resolution | [in] the resolution of the dicretisation of the polar coordinates. |
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inline |
get average curvature of contour
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inline |
get the 2d contour
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inline |
get max curvature of contour
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inline |
get min curvature of contour
void printToFile | ( | const std::string & | file | ) |
writes this contour information to file
file | [in] name of file |