From b5db0dbda261915c2105364e18c2c9eda34e1fbd Mon Sep 17 00:00:00 2001
From: andreucm <andreu@beta-robots.com>
Date: Thu, 10 Mar 2016 19:18:28 +0100
Subject: [PATCH] GridCluster class added but not yet tested
---
src/grid_cluster.cpp | 37 +++++++++++++++++++++++++++++++++++++
src/grid_cluster.h | 39 +++++++++++++++++++++++++++++++++++++++
2 files changed, 76 insertions(+)
create mode 100644 src/grid_cluster.cpp
create mode 100644 src/grid_cluster.h
diff --git a/src/grid_cluster.cpp b/src/grid_cluster.cpp
new file mode 100644
index 0000000..6b6336b
--- /dev/null
+++ b/src/grid_cluster.cpp
@@ -0,0 +1,37 @@
+#include "grid_cluster.h"
+
+namespace laserscanutils
+{
+
+//init static cluster counter
+unsigned int GridCluster::cluster_id_count_ = 0;
+
+GridCluster::GridCluster() : PointSet()
+{
+ //
+}
+
+GridCluster::~GridCluster()
+{
+ //
+}
+
+void GridCluster::print() const
+{
+ //print cluster params
+ std::cout
+ << "\tcluster_id_: " << cluster_id_ << std::endl
+ << "\tcentroid_x_: " << centroid_(0) << std::endl
+ << "\tcentroid_y_: " << centroid_(1)<< std::endl;
+
+ //print cluster cell index pairs
+ std::cout << "\tcells_: ";
+ for (unsigned int jj = 0; jj < cells_.size(); jj++)
+ {
+ std::cout << cells_.at(jj).first << "," << cells_.at(jj).second << " - ";
+ }
+ std::cout << std::endl;
+}
+
+}//close namespace
+
diff --git a/src/grid_cluster.h b/src/grid_cluster.h
new file mode 100644
index 0000000..2f6eac4
--- /dev/null
+++ b/src/grid_cluster.h
@@ -0,0 +1,39 @@
+#ifndef GRID_CLUSTER_H_
+#define GRID_CLUSTER_H_
+
+//laserscanutils
+#include "laser_scan_utils.h"
+#include "point_set.h"
+
+//std
+#include <iostream>
+
+//open namespace
+namespace laserscanutils
+{
+/** \brief Cluster class
+ *
+ * Cluster of connected occupied cells in a grid
+ *
+ **/
+class GridCluster : public PointSet
+{
+ protected:
+ unsigned int cluster_id_; //Cluster id.
+ static unsigned int cluster_id_count_; //cluster counter (acts as simple ID factory)
+
+ public:
+ std::vector<std::pair<unsigned int, unsigned int> > cells_; //i,j index of the grid cells of this cluster
+
+ public:
+ //constructor
+ GridCluster();
+
+ //Destructor
+ ~GridCluster();
+
+ //print
+ virtual void print() const;
+};
+}//namespace
+#endif
--
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