27 #ifndef _c_trajectory_H_
28 #define _c_trajectory_H_
43 #include <visualization_msgs/Marker.h>
44 #include <visualization_msgs/MarkerArray.h>
45 #include <tf/transform_listener.h>
46 #include <pcl_ros/transforms.h>
47 #include <pcl/conversions.h>
48 #include <pcl/point_cloud.h>
49 #include <pcl/point_types.h>
50 #include <pcl/segmentation/extract_polygonal_prism_data.h>
51 #include <pcl/filters/extract_indices.h>
52 #include <pcl/filters/project_inliers.h>
53 #include <pcl/filters/voxel_grid.h>
58 #define PFLN printf("FILE %s LINE %d\n",__FILE__, __LINE__);
59 #define _USE_MATH_DEFINES
60 #define _TRAJECTORY_LIB_DEBUG_ 1
92 #if _TRAJECTORY_LIB_DEBUG_
93 printf(
"Constructor - Defining D...\n");
99 #if _TRAJECTORY_LIB_DEBUG_
100 printf(
"Destructor...\n");
106 vector<vector<t_lines> > v_lines;
143 void create_markers(std::vector<visualization_msgs::Marker>* marker_vec,
int* marker_count,
int num_traj);
vector< double > total_arc
boost::shared_ptr< c_trajectory > c_trajectoryPtr
vector< tf::Transform > ltrans
c_trajectory(double D_in)
vector< t_point > collision_pts