distance_field::PropagationDistanceField Class Reference

A DistanceField implementation that uses a vector propagation method. More...

#include <propagation_distance_field.h>

Inheritance diagram for distance_field::PropagationDistanceField:

[legend]

List of all members.

Public Member Functions
virtual void	addPointsToField (const std::vector< btVector3 > points)
	Add (and expand) a set of points to the distance field.
	PropagationDistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, double max_distance)
	Constructor for the DistanceField.
virtual void	reset ()
	Resets the distance field to the max_distance.
virtual	~PropagationDistanceField ()
Private Member Functions
int	getDirectionNumber (int dx, int dy, int dz) const
virtual double	getDistance (const PropDistanceFieldVoxel &object) const
void	initNeighborhoods ()
Static Private Member Functions
static int	eucDistSq (int *point1, int *point2)
Private Attributes
std::vector< std::vector < PropDistanceFieldVoxel * > >	bucket_queue_
std::vector< std::vector< int > >	direction_number_to_direction_
double	max_distance_
int	max_distance_sq_
std::vector< std::vector < std::vector< std::vector < int > > > >	neighborhoods_
std::vector< double >	sqrt_table_

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Detailed Description

A DistanceField implementation that uses a vector propagation method.

It computes the distance transform of the input points, and stores the distance to the closest obstacle in each voxel. Also available is the location of the closest point, and the gradient of the field at a point. Expansion of obstacles is performed upto a given radius.

Definition at line 86 of file propagation_distance_field.h.

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Constructor & Destructor Documentation

distance_field::PropagationDistanceField::PropagationDistanceField	(	double	size_x,
		double	size_y,
		double	size_z,
		double	resolution,
		double	origin_x,
		double	origin_y,
		double	origin_z,
		double	max_distance
	)

Constructor for the DistanceField.

Definition at line 47 of file propagation_distance_field.cpp.

distance_field::PropagationDistanceField::~PropagationDistanceField

(

)

[virtual]

Definition at line 43 of file propagation_distance_field.cpp.

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Member Function Documentation

void distance_field::PropagationDistanceField::addPointsToField

(

const std::vector< btVector3 >

points

)

[virtual]

Add (and expand) a set of points to the distance field.

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 70 of file propagation_distance_field.cpp.

int distance_field::PropagationDistanceField::eucDistSq	(	int *	point1,
		int *	point2
	)			[static, private]

Definition at line 62 of file propagation_distance_field.cpp.

int distance_field::PropagationDistanceField::getDirectionNumber	(	int	dx,
		int	dy,
		int	dz
	)			const [private]

Definition at line 237 of file propagation_distance_field.cpp.

double distance_field::PropagationDistanceField::getDistance

(

const PropDistanceFieldVoxel &

object

)

const [inline, private, virtual]

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 144 of file propagation_distance_field.h.

void distance_field::PropagationDistanceField::initNeighborhoods

(

)

[private]

Definition at line 173 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::reset

(

)

[virtual]

Resets the distance field to the max_distance.

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 168 of file propagation_distance_field.cpp.

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Member Data Documentation

std::vector<std::vector<PropDistanceFieldVoxel*> > distance_field::PropagationDistanceField::bucket_queue_ [private]

Definition at line 110 of file propagation_distance_field.h.

std::vector<std::vector<int> > distance_field::PropagationDistanceField::direction_number_to_direction_ [private]

Definition at line 123 of file propagation_distance_field.h.

double distance_field::PropagationDistanceField::max_distance_ [private]

Definition at line 111 of file propagation_distance_field.h.

int distance_field::PropagationDistanceField::max_distance_sq_ [private]

Definition at line 112 of file propagation_distance_field.h.

std::vector<std::vector<std::vector<std::vector<int> > > > distance_field::PropagationDistanceField::neighborhoods_ [private]

Definition at line 121 of file propagation_distance_field.h.

std::vector<double> distance_field::PropagationDistanceField::sqrt_table_ [private]

Definition at line 114 of file propagation_distance_field.h.

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The documentation for this class was generated from the following files:

• propagation_distance_field.h
• propagation_distance_field.cpp