point_containment_filter::ShapeMask Class Reference

Computing a mask for a pointcloud that states which points are inside the robot. More...

#include <shape_mask.h>

Classes
struct	SeeShape
struct	SortBodies

Public Types
enum	{ INSIDE = 0, OUTSIDE = 1, CLIP = 2 }
	The possible values of a mask computed for a point. More...
typedef boost::function< bool(ShapeHandle, Eigen::Isometry3d &)>	TransformCallback

Public Member Functions
ShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0)
int	getMaskContainment (const Eigen::Vector3d &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback. More...
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback. More...
void	maskContainment (const sensor_msgs::PointCloud2 &data_in, const Eigen::Vector3d &sensor_pos, const double min_sensor_dist, const double max_sensor_dist, std::vector< int > &mask)
	Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE. More...
void	removeShape (ShapeHandle handle)
void	setTransformCallback (const TransformCallback &transform_callback)
	ShapeMask (const TransformCallback &transform_callback=TransformCallback())
	Construct the filter. More...
virtual	~ShapeMask ()
	Destructor to clean up. More...

Protected Attributes
std::set< SeeShape, SortBodies >	bodies_
std::vector< bodies::BoundingSphere >	bspheres_
boost::mutex	shapes_lock_
	Protects, bodies_ and bspheres_. All public methods acquire this mutex for their whole duration. More...
TransformCallback	transform_callback_

Private Member Functions
void	freeMemory ()
	Free memory. More...

Private Attributes
ShapeHandle	min_handle_
ShapeHandle	next_handle_
std::map< ShapeHandle, std::set< SeeShape, SortBodies >::iterator >	used_handles_

Detailed Description

Computing a mask for a pointcloud that states which points are inside the robot.

Definition at line 85 of file shape_mask.h.

Member Typedef Documentation

TransformCallback

typedef boost::function<bool(ShapeHandle, Eigen::Isometry3d&)> point_containment_filter::ShapeMask::TransformCallback

Definition at line 96 of file shape_mask.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

The possible values of a mask computed for a point.

Enumerator
INSIDE
OUTSIDE
CLIP

Definition at line 89 of file shape_mask.h.

Constructor & Destructor Documentation

ShapeMask()

point_containment_filter::ShapeMask::ShapeMask

(

const TransformCallback &

transform_callback = TransformCallback()

)

Construct the filter.

Definition at line 44 of file shape_mask.cpp.

~ShapeMask()

point_containment_filter::ShapeMask::~ShapeMask ( )

virtual

Destructor to clean up.

Definition at line 49 of file shape_mask.cpp.

Member Function Documentation

addShape()

point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addShape	(	const shapes::ShapeConstPtr &	shape,
		double	scale = 1.0,
		double	padding = 0.0
	)

Definition at line 67 of file shape_mask.cpp.

freeMemory()

void point_containment_filter::ShapeMask::freeMemory ( )

private

Free memory.

Definition at line 54 of file shape_mask.cpp.

getMaskContainment() [1/2]

int point_containment_filter::ShapeMask::getMaskContainment

(

const Eigen::Vector3d &

pt

)

const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 179 of file shape_mask.cpp.

getMaskContainment() [2/2]

int point_containment_filter::ShapeMask::getMaskContainment	(	double	x,
		double	y,
		double	z
	)		const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 190 of file shape_mask.cpp.

maskContainment()

void point_containment_filter::ShapeMask::maskContainment	(	const sensor_msgs::PointCloud2 &	data_in,
		const Eigen::Vector3d &	sensor_pos,
		const double	min_sensor_dist,
		const double	max_sensor_dist,
		std::vector< int > &	mask
	)

Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.

Definition at line 117 of file shape_mask.cpp.

removeShape()

void point_containment_filter::ShapeMask::removeShape

(

ShapeHandle

handle

)

Definition at line 102 of file shape_mask.cpp.

setTransformCallback()

void point_containment_filter::ShapeMask::setTransformCallback

(

const TransformCallback &

transform_callback

)

Definition at line 61 of file shape_mask.cpp.

Member Data Documentation

bodies_

std::set<SeeShape, SortBodies> point_containment_filter::ShapeMask::bodies_

protected

Definition at line 153 of file shape_mask.h.

bspheres_

std::vector<bodies::BoundingSphere> point_containment_filter::ShapeMask::bspheres_

protected

Definition at line 154 of file shape_mask.h.

min_handle_

ShapeHandle point_containment_filter::ShapeMask::min_handle_

private

Definition at line 161 of file shape_mask.h.

next_handle_

ShapeHandle point_containment_filter::ShapeMask::next_handle_

private

Definition at line 160 of file shape_mask.h.

shapes_lock_

boost::mutex point_containment_filter::ShapeMask::shapes_lock_

mutableprotected

Protects, bodies_ and bspheres_. All public methods acquire this mutex for their whole duration.

Definition at line 152 of file shape_mask.h.

transform_callback_

TransformCallback point_containment_filter::ShapeMask::transform_callback_

protected

Definition at line 149 of file shape_mask.h.

used_handles_

std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator> point_containment_filter::ShapeMask::used_handles_

private

Definition at line 162 of file shape_mask.h.

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

• shape_mask.h
• shape_mask.cpp