robot_self_filter::SelfMask Class Reference

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

#include <self_mask.h>

Classes
struct	SeeLink
struct	SortBodies
Public Member Functions
void	assumeFrame (const roslib::Header &header, const btVector3 &sensor_pos, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. Also specify which possition to assume for the sensor (frame is not needed).
void	assumeFrame (const roslib::Header &header, const std::string &sensor_frame, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	assumeFrame (const roslib::Header &header)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	getLinkNames (std::vector< std::string > &frames) const
	Get the set of link names that have been instantiated for self filtering.
int	getMaskContainment (const btVector3 &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (const btVector3 &pt, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (double x, double y, double z, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
void	maskContainment (const sensor_msgs::PointCloud &data_in, 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.
void	maskIntersection (const sensor_msgs::PointCloud &data_in, const btVector3 &sensor, const double min_sensor_dist, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The origin of the sensor is specified as well.
void	maskIntersection (const sensor_msgs::PointCloud &data_in, const std::string &sensor_frame, const double min_sensor_dist, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The sensor frame is specified to obtain the origin of the sensor. A callback can be registered for the first intersection point on each body.
	SelfMask (tf::TransformListener &tf, const std::vector< LinkInfo > &links)
	Construct the filter.
	~SelfMask (void)
	Destructor to clean up.
Private Member Functions
void	computeBoundingSpheres (void)
	Compute bounding spheres for the checked robot links.
bool	configure (const std::vector< LinkInfo > &links)
	Configure the filter.
void	freeMemory (void)
	Free memory.
void	maskAuxContainment (const sensor_msgs::PointCloud &data_in, std::vector< int > &mask)
	Perform the actual mask computation.
void	maskAuxIntersection (const sensor_msgs::PointCloud &data_in, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &callback)
	Perform the actual mask computation.
Private Attributes
std::vector< SeeLink >	bodies_
std::vector < bodies::BoundingSphere >	bspheres_
std::vector< double >	bspheresRadius2_
double	min_sensor_dist_
ros::NodeHandle	nh_
btVector3	sensor_pos_
tf::TransformListener &	tf_

Detailed Description

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

Definition at line 57 of file self_mask.h.

Constructor & Destructor Documentation

robot_self_filter::SelfMask::SelfMask	(	tf::TransformListener &	tf,
		const std::vector< LinkInfo > &	links
	)			`[inline]`

Construct the filter.

Definition at line 86 of file self_mask.h.

robot_self_filter::SelfMask::~SelfMask ( void ) [inline]

Destructor to clean up.

Definition at line 93 of file self_mask.h.

Member Function Documentation

void robot_self_filter::SelfMask::assumeFrame	(	const roslib::Header &	header,
		const btVector3 &	sensor_pos,
		const double	min_sensor_dist
	)

Assume subsequent calls to getMaskX() will be in the frame passed to this function. Also specify which possition to assume for the sensor (frame is not needed).

Definition at line 279 of file self_mask.cpp.

void robot_self_filter::SelfMask::assumeFrame	(	const roslib::Header &	header,
		const std::string &	sensor_frame,
		const double	min_sensor_dist
	)

Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.

Definition at line 286 of file self_mask.cpp.

void robot_self_filter::SelfMask::assumeFrame ( const roslib::Header & header )

Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.

Definition at line 314 of file self_mask.cpp.

void robot_self_filter::SelfMask::computeBoundingSpheres ( void ) [private]

Compute bounding spheres for the checked robot links.

Definition at line 269 of file self_mask.cpp.

bool robot_self_filter::SelfMask::configure ( const std::vector< LinkInfo > & links ) [private]

Configure the filter.

Definition at line 125 of file self_mask.cpp.

void robot_self_filter::SelfMask::freeMemory ( void ) [private]

Free memory.

Definition at line 38 of file self_mask.cpp.

void robot_self_filter::SelfMask::getLinkNames ( std::vector< std::string > & frames ) const

Get the set of link names that have been instantiated for self filtering.

Definition at line 221 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskContainment ( const btVector3 & pt ) const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 443 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskContainment	(	double	x,
		double	y,
		double	z
	)			const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 453 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskIntersection	(	const btVector3 &	pt,
		const boost::function< void(const btVector3 &)> &	intersectionCallback = `NULL`
	)			const

Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 458 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskIntersection	(	double	x,
		double	y,
		double	z,
		const boost::function< void(const btVector3 &)> &	intersectionCallback = `NULL`
	)			const

Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 502 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskAuxContainment	(	const sensor_msgs::PointCloud &	data_in,
		std::vector< int > &	mask
	)			`[private]`

Perform the actual mask computation.

Definition at line 347 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskAuxIntersection	(	const sensor_msgs::PointCloud &	data_in,
		std::vector< int > &	mask,
		const boost::function< void(const btVector3 &)> &	callback
	)			`[private]`

Perform the actual mask computation.

Definition at line 372 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskContainment	(	const sensor_msgs::PointCloud &	data_in,
		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 227 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskIntersection	(	const sensor_msgs::PointCloud &	data_in,
		const btVector3 &	sensor,
		const double	min_sensor_dist,
		std::vector< int > &	mask,
		const boost::function< void(const btVector3 &)> &	intersectionCallback = `NULL`
	)

Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The origin of the sensor is specified as well.

Definition at line 256 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskIntersection	(	const sensor_msgs::PointCloud &	data_in,
		const std::string &	sensor_frame,
		const double	min_sensor_dist,
		std::vector< int > &	mask,
		const boost::function< void(const btVector3 &)> &	intersectionCallback = `NULL`
	)

Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The sensor frame is specified to obtain the origin of the sensor. A callback can be registered for the first intersection point on each body.

Definition at line 239 of file self_mask.cpp.