A VoxelGrid that can convert a set of obstacle points into a distance field. More...
#include <distance_field.h>
Public Member Functions | |
| void | addCollisionMapToField (const mapping_msgs::CollisionMap &collision_map) |
| Adds the points in a collision map to the distance field. | |
| virtual void | addPointsToField (const std::vector< btVector3 > points)=0 |
| Add (and expand) a set of points to the distance field. | |
| DistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, T default_object) | |
| Constructor for the VoxelGrid. | |
| double | getDistance (double x, double y, double z) const |
| Gets the distance to the closest obstacle at the given location. | |
| double | getDistanceFromCell (int x, int y, int z) const |
| Gets the distance to the closest obstacle at the given integer cell location. | |
| double | getDistanceGradient (double x, double y, double z, double &gradient_x, double &gradient_y, double &gradient_z) const |
| Gets the distance at a location and the gradient of the field. | |
| virtual void | reset ()=0 |
| Resets the distance field to the max_distance. | |
| void | visualize (double min_radius, double max_radius, std::string frame_id, const btTransform &cur, ros::Time stamp) |
| Publishes an iso-surface to rviz. | |
| void | visualizeGradient (double min_radius, double max_radius, std::string frame_id, ros::Time stamp) |
| Publishes the gradient to rviz. | |
| virtual | ~DistanceField () |
Protected Member Functions | |
| virtual double | getDistance (const T &object) const =0 |
Private Attributes | |
| int | inv_twice_resolution_ |
| ros::Publisher | pub_viz_ |
A VoxelGrid that can convert a set of obstacle points into a distance field.
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.
This is an abstract base class, current implementations include PropagationDistanceField and PFDistanceField.
Definition at line 63 of file distance_field.h.
| distance_field::DistanceField< T >::DistanceField | ( | double | size_x, | |
| double | size_y, | |||
| double | size_z, | |||
| double | resolution, | |||
| double | origin_x, | |||
| double | origin_y, | |||
| double | origin_z, | |||
| T | default_object | |||
| ) | [inline] |
Constructor for the VoxelGrid.
| size_x | Size (x axis) of the container in meters | |
| size_y | Size (y axis) of the container in meters | |
| size_z | Size (z axis) of the container in meters | |
| resolution,: | resolution (size of a single cell) in meters | |
| origin_x | Origin (x axis) of the container | |
| origin_y | Origin (y axis) of the container | |
| origin_z | Origin (z axis) of the container | |
| default_object | The object to return for an out-of-bounds query |
Definition at line 151 of file distance_field.h.
| distance_field::DistanceField< T >::~DistanceField | ( | ) | [inline, virtual] |
Definition at line 145 of file distance_field.h.
| void distance_field::DistanceField< T >::addCollisionMapToField | ( | const mapping_msgs::CollisionMap & | collision_map | ) | [inline] |
Adds the points in a collision map to the distance field.
Definition at line 315 of file distance_field.h.
| virtual void distance_field::DistanceField< T >::addPointsToField | ( | const std::vector< btVector3 > | points | ) | [pure virtual] |
Add (and expand) a set of points to the distance field.
This function will incrementally add the given points and update the distance field correspondingly. Use the reset() function if you need to remove all points and start afresh.
Implemented in distance_field::PFDistanceField, and distance_field::PropagationDistanceField.
| virtual double distance_field::DistanceField< T >::getDistance | ( | const T & | object | ) | const [protected, pure virtual] |
Implemented in distance_field::PFDistanceField, and distance_field::PropagationDistanceField.
| double distance_field::DistanceField< T >::getDistance | ( | double | x, | |
| double | y, | |||
| double | z | |||
| ) | const [inline] |
Gets the distance to the closest obstacle at the given location.
Definition at line 161 of file distance_field.h.
| double distance_field::DistanceField< T >::getDistanceFromCell | ( | int | x, | |
| int | y, | |||
| int | z | |||
| ) | const [inline] |
Gets the distance to the closest obstacle at the given integer cell location.
Definition at line 192 of file distance_field.h.
| double distance_field::DistanceField< T >::getDistanceGradient | ( | double | x, | |
| double | y, | |||
| double | z, | |||
| double & | gradient_x, | |||
| double & | gradient_y, | |||
| double & | gradient_z | |||
| ) | const [inline] |
Gets the distance at a location and the gradient of the field.
Definition at line 167 of file distance_field.h.
| virtual void distance_field::DistanceField< T >::reset | ( | ) | [pure virtual] |
Resets the distance field to the max_distance.
Implemented in distance_field::PFDistanceField, and distance_field::PropagationDistanceField.
| void distance_field::DistanceField< T >::visualize | ( | double | min_radius, | |
| double | max_radius, | |||
| std::string | frame_id, | |||
| const btTransform & | cur, | |||
| ros::Time | stamp | |||
| ) | [inline] |
Publishes an iso-surface to rviz.
Publishes an iso-surface containing points between min_radius and max_radius as visualization markers for rviz.
Definition at line 198 of file distance_field.h.
| void distance_field::DistanceField< T >::visualizeGradient | ( | double | min_radius, | |
| double | max_radius, | |||
| std::string | frame_id, | |||
| ros::Time | stamp | |||
| ) | [inline] |
Publishes the gradient to rviz.
Publishes the gradient of the distance field as visualization markers for rviz.
Definition at line 250 of file distance_field.h.
int distance_field::DistanceField< T >::inv_twice_resolution_ [private] |
Definition at line 124 of file distance_field.h.
ros::Publisher distance_field::DistanceField< T >::pub_viz_ [private] |
Definition at line 123 of file distance_field.h.
