us.ihmc.utilities.math.geometry
Class HeightMapBestFitPlaneCalculator

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.HeightMapBestFitPlaneCalculator

public class HeightMapBestFitPlaneCalculator
extends java.lang.Object


Constructor Summary
HeightMapBestFitPlaneCalculator(HeightMap lidarMap)
           
 
Method Summary
 FramePlane3d calculatePlane(FramePoint2d center, double kernelSizeX, double kernelSizeY)
           
 FramePlane3d calculatePlane(FramePoint2d center, double xExtent, double yExtent, InclusionFunction<javax.vecmath.Point3d> kernelMask)
           
 java.util.List<javax.vecmath.Point3d> getPointList()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

HeightMapBestFitPlaneCalculator

public HeightMapBestFitPlaneCalculator(HeightMap lidarMap)
Method Detail

calculatePlane

public FramePlane3d calculatePlane(FramePoint2d center,
                                   double kernelSizeX,
                                   double kernelSizeY)
                            throws InsufficientDataException
Throws:
InsufficientDataException

calculatePlane

public FramePlane3d calculatePlane(FramePoint2d center,
                                   double xExtent,
                                   double yExtent,
                                   InclusionFunction<javax.vecmath.Point3d> kernelMask)
                            throws InsufficientDataException
Throws:
InsufficientDataException

getPointList

public java.util.List<javax.vecmath.Point3d> getPointList()