iLab Neuromorphic Robotics Toolkit  0.1
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PointNormal.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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27  // PURPOSE. See the GNU General Public License for more details. //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD_FEATURES_POINTNORMAL_H
37 #define INCLUDE_NRT_POINTCLOUD_FEATURES_POINTNORMAL_H
38 
41 
42 namespace nrt
43 {
44  //! An SSE capable point normal class
45  /*! A point normal represents a normal to a local plane centered at some location
46  as well as the curvature measurement corresponding to this location */
47  class alignas(16) PointNormal : public PointSSE<PointCloud2::BaseType>
48  {
50  typedef PointCloud2::BaseType BaseType;
51 
52  public:
53  //! Construct a zero valued normal
54  PointNormal();
55 
56  //! Constructs a point with all values set to value
57  PointNormal( BaseType value );
58 
59  //! Construct a point by specifying all values
60  PointNormal( BaseType x, BaseType y, BaseType z, BaseType curvature );
61 
62  //! Construct a point from an std::array
63  explicit PointNormal( std::array<BaseType, 4> const & init );
64 
65  //! Copy constructor
66  PointNormal( Point<BaseType, 4> const & other );
67 
68  //! Access the fourth element
69  BaseType & curvature();
70  //! Access the fourth element
71  BaseType const curvature() const;
72  };
73 } // namespace nrt
74 
75 #endif // INCLUDE_NRT_POINTCLOUD_FEATURES_POINTNORMAL_H
76 #endif // NRT_HAVE_CLOUD