propagation_distance_field.h

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#ifndef DF_PROPAGATION_DISTANCE_FIELD_H_
#define DF_PROPAGATION_DISTANCE_FIELD_H_

#include <distance_field/voxel_grid.h>
#include <distance_field/distance_field.h>
#include <LinearMath/btVector3.h>
#include <vector>
#include <list>
#include <ros/ros.h>

namespace distance_field
{

struct PropDistanceFieldVoxel
{
  PropDistanceFieldVoxel();
  PropDistanceFieldVoxel(int distance_sq);

  int distance_square_;         
  int location_[3];             
  int closest_point_[3];        
  int update_direction_;        
  static const int UNINITIALIZED=-1;
};

class PropagationDistanceField: public DistanceField<PropDistanceFieldVoxel>
{
public:

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

  virtual ~PropagationDistanceField();

  virtual void addPointsToField(const std::vector<btVector3> points);

  virtual void reset();

private:
  std::vector<std::vector<PropDistanceFieldVoxel*> > bucket_queue_;
  double max_distance_;
  int max_distance_sq_;

  std::vector<double> sqrt_table_;

  // neighborhoods:
  // [0] - for expansion of d=0
  // [1] - for expansion of d>=1
  // Under this, we have the 27 directions
  // Then, a list of neighborhoods for each direction
  std::vector<std::vector<std::vector<std::vector<int> > > > neighborhoods_;

  std::vector<std::vector<int> > direction_number_to_direction_;

  virtual double getDistance(const PropDistanceFieldVoxel& object) const;
  int getDirectionNumber(int dx, int dy, int dz) const;
  void initNeighborhoods();
  static int eucDistSq(int* point1, int* point2);
};


inline PropDistanceFieldVoxel::PropDistanceFieldVoxel(int distance_sq):
  distance_square_(distance_sq)
{
    for (int i=0; i<3; i++)
      closest_point_[i] = PropDistanceFieldVoxel::UNINITIALIZED;
}

inline PropDistanceFieldVoxel::PropDistanceFieldVoxel()
{
}

inline double PropagationDistanceField::getDistance(const PropDistanceFieldVoxel& object) const
{
  return sqrt_table_[object.distance_square_];
}

}

#endif /* DF_PROPAGATION_DISTANCE_FIELD_H_ */

---

distance_field
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Jan 11 09:54:12 2013