polygon_primitive.cpp

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#ifndef _polygon_primitive_CPP_
#define _polygon_primitive_CPP_


#include "polygon_primitive.h"

c_polygon_primitive::c_polygon_primitive(ros::NodeHandle *node, const char* name,  unsigned char r, unsigned char g, unsigned char b)
{

        rosnode = node;
        grow_number = 0;
        allocate_space();
        set_names(name);

        //Set the name of the local reference system
        std::string tmp_str(data.misc.name); 
        std::string tmp_str1("/"); 
        data.frames.local_name = tmp_str1 + tmp_str; 

        data.misc.color.r = r;
        data.misc.color.g = g;
        data.misc.color.b = b;

        //set default values for area and solidity
        data.hulls.convex.area = NAN;
        data.hulls.convex.solidity = NAN;
        data.hulls.concave.area = NAN;
        data.hulls.concave.solidity = NAN;

        //ROS_INFO("Starting a new polygon class named %s",data.misc.name);
};

c_polygon_primitive::~c_polygon_primitive()
{
        //reset all shared ptr to free
        pointclouds.all.reset();
        pointclouds.projected.reset();
        pointclouds.additional.reset();
        data.hulls.convex.polygon.reset();
        data.hulls.convex.extended_polygon.reset();
        data.hulls.concave.polygon.reset();
        data.hulls.concave.extended_polygon.reset();
        pointclouds.growed.reset();
        pointclouds.tmp.reset();
        data.planes.current.reset();;
        data.planes.previous.reset();;
};


#endif