distance_field::PFDistanceField Class Reference

A DistanceField implementation that uses a raster scanning type method by Felzenszwalb et. al. More...

#include <pf_distance_field.h>

Inheritance diagram for distance_field::PFDistanceField:

[legend]

List of all members.

Public Types
typedef std::vector< float >	FloatArray
typedef std::vector< int >	IntArray
Public Member Functions
virtual void	addPointsToField (const std::vector< btVector3 > points)
	Add (and expand) a set of points to the distance field.
	PFDistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z)
virtual void	reset ()
	Resets the distance field to the max_distance.
virtual	~PFDistanceField ()
Public Attributes
const float	DT_INF
Private Member Functions
void	computeDT ()
void	dt (const FloatArray &f, size_t nn, FloatArray &ft, IntArray &v, FloatArray &z)
virtual double	getDistance (const float &object) const
float	sqr (float x)

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Detailed Description

A DistanceField implementation that uses a raster scanning type method by Felzenszwalb et. al.

Implementation of "Distance Transforms of Sampled Functions", Pedro F. Felzenszwalb and Daniel P. Huttenlocher, Cornell Computing and Information Science TR2004-1963

Definition at line 49 of file pf_distance_field.h.

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Member Typedef Documentation

typedef std::vector<float> distance_field::PFDistanceField::FloatArray

Definition at line 49 of file pf_distance_field.h.

typedef std::vector<int> distance_field::PFDistanceField::IntArray

Definition at line 50 of file pf_distance_field.h.

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Constructor & Destructor Documentation

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

Definition at line 40 of file pf_distance_field.cpp.

distance_field::PFDistanceField::~PFDistanceField

(

)

[virtual]

Definition at line 48 of file pf_distance_field.cpp.

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Member Function Documentation

void distance_field::PFDistanceField::addPointsToField

(

const std::vector< btVector3 >

points

)

[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.

Implements distance_field::DistanceField< float >.

Definition at line 52 of file pf_distance_field.cpp.

void distance_field::PFDistanceField::computeDT

(

)

[private]

Definition at line 66 of file pf_distance_field.cpp.

void distance_field::PFDistanceField::dt	(	const FloatArray &	f,
		size_t	nn,
		FloatArray &	ft,
		IntArray &	v,
		FloatArray &	z
	)			[private]

Definition at line 119 of file pf_distance_field.cpp.

double distance_field::PFDistanceField::getDistance

(

const float &

object

)

const [inline, private, virtual]

Implements distance_field::DistanceField< float >.

Definition at line 76 of file pf_distance_field.h.

void distance_field::PFDistanceField::reset

(

)

[virtual]

Resets the distance field to the max_distance.

Implements distance_field::DistanceField< float >.

Definition at line 160 of file pf_distance_field.cpp.

float distance_field::PFDistanceField::sqr

(

float

x

)

[inline, private]

Definition at line 58 of file pf_distance_field.h.

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Member Data Documentation

const float distance_field::PFDistanceField::DT_INF

Definition at line 55 of file pf_distance_field.h.

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

• pf_distance_field.h
• pf_distance_field.cpp