PointCloud3Normal.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
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 */

#ifndef _MIRA_POINTCLOUD3NORMAL_H_
#define _MIRA_POINTCLOUD3NORMAL_H_

#include <maps/PointCloudTypes.h>

namespace mira { namespace maps {


class Point3normal : public Point3f
{
public:
    typedef Eigen::Vector3f Normal;
    Normal normal;

public:

    Point3normal() : normal(0,0,0) {}
    Point3normal(const Point3f& p, const Normal& n) :
            Point3f(p), normal(n) {}

public:

    static PCFormat pointCloudFormat()
    {
        PCFormat fmt;
        fmt.addField("x",PCDataField::FLOAT32,1);
        fmt.addField("y",PCDataField::FLOAT32,1);
        fmt.addField("z",PCDataField::FLOAT32,1);
        fmt.addField("normal_x",PCDataField::FLOAT32,1);
        fmt.addField("normal_y",PCDataField::FLOAT32,1);
        fmt.addField("normal_z",PCDataField::FLOAT32,1);
        return fmt;
    }

};

typedef PointCloud<Point3normal> PointCloud3Normal;


}} // namespace

#endif