getPayload.m

%{
 * Copyright (C) 2020-2030, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * The views and conclusions contained in the software and documentation are those
 * of the authors and should not be interpreted as representing official policies,
 * either expressed or implied, of the Regents of The University of Michigan.
 * 
 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}


function accumulated_payload = getPayload(point_cloud, pc_iter, num_scan)
    accumulated_payload = [];
    for i = 0:num_scan-1
        points = point_cloud(pc_iter+i, :, 1:3);
        points = (reshape(points, size(points, 2),[]))';
        points = removeZeros(points);
        accumulated_payload = [accumulated_payload points];
    end
    accumulated_payload = [accumulated_payload; ones(1, size(accumulated_payload, 2))];
end
% function accumulated_payload = getPayload(point_cloud, pc_iter, num_scan)
% 
%     accumulated_payload = [];
%     for i = 0:num_scan-1
%         points = point_cloud(pc_iter+i, :, 1:3);
%         points = (reshape(points, size(points, 2),[]))';
%         for i = 1:size(points, 2)
%             if ~any(all(points(:, i), 2))
%                 points = points(:, 1:i-1);
%                 break;
%             end
%         end
%         accumulated_payload = [accumulated_payload points];
%     end
%     accumulated_payload = [accumulated_payload; ones(1, size(accumulated_payload, 2))];
% end