CscShapeUtils.h

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//
//  CscShapeUtils.h
//  ConscienceRobotManager
//
//  Created by Conscience_Ilies Zaoui on 05/03/2020.
//  Copyright © 2020 IliesZaoui. All rights reserved.
//
 
#ifndef CscShapeUtils_h
#define CscShapeUtils_h
 
#include "CscCommon.h"
#include "CoreObjects/CscWorldElementParts.h"
#include "Axiomes/Csc3dTypes.h"
#include <pcl/features/normal_3d.h>
#include <pcl/Vertices.h>
 
using std::vector;
 
class CscShapeUtils {
public:
    CscShapeUtils();
    
    static void cscUniformSampling(pcl::PointCloud <pcl::PointXYZ>::Ptr &cloud, float radius);
    static void concaveHullAlgorithm(pcl::PointCloud <pcl::PointXYZ>::Ptr &cloud, std::vector<pcl::Vertices> &polygonsIndices, float alphaComplex);
    static std::vector<CscPoint3d*> * getTargetFullFilled3dPoints(const CscPoint3d * relativePosition, std::vector<CscWorldElementPart *> * members, std::string environmentName, float distanceBetweenPoints);
    static std::vector<CscPoint3d*> * getTargetPyramidalFullFilled3dPoints(const CscPoint3d * relativePosition, const vector<CscWorldElementPart *> * members, std::string environmentName, float distanceBetweenPoints);
 
    static std::vector<CscPoint3d*> * getTargetFloor2dPoints(const CscPoint3d * relativePosition, std::vector<CscWorldElementPart *> * members, std::string memberName, float distanceBetweenPoints);
    static  std::vector<CscPoint3d*> * getTargetFloorLinePoints(const CscPoint3d * relativePosition, const vector<CscWorldElementPart *> * members, std::string memberName, float distanceBetweenPoints);
    static CscPoint3d * getTargetFloor2dCenter(const CscPoint3d * relativePosition, const vector<CscWorldElementPart *> * members, std::string memberName);
};
 
#endif /* CscShapeUtils_h */