A DistanceField implementation that uses a vector propagation method. More...

#include <propagation_distance_field.h>

Inheritance diagram for distance_field::PropagationDistanceField:

Public Member Functions
virtual void	addPointsToField (const std::vector< tf::Vector3 > &points)
	Add (and expand) a set of points to the distance field.
void	getOccupiedVoxelMarkers (const std::string &frame_id, const ros::Time stamp, const tf::Transform &cur, visualization_msgs::Marker &marker)
	Get visualization markers for the set of occupied cells.
	PropagationDistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, double max_distance)
	Constructor for the DistanceField.
virtual void	reset ()
	Resets the distance field to the max_distance.
virtual void	updatePointsInField (const std::vector< tf::Vector3 > &points, const bool iterative=true)
	Change the set of obstacle points and recalculate the distance field (if there are any changes).
virtual	~PropagationDistanceField ()
Private Types
typedef std::set< int3, compareInt3 >	VoxelSet
	The set of all the obstacle voxels.
Private Member Functions
void	addNewObstacleVoxels (const VoxelSet &points)
int	getDirectionNumber (int dx, int dy, int dz) const
virtual double	getDistance (const PropDistanceFieldVoxel &object) const
int3	getLocationDifference (int directionNumber) const
void	initNeighborhoods ()
void	propogate ()
void	removeObstacleVoxels (const VoxelSet &points)
Static Private Member Functions
static int	eucDistSq (int3 point1, int3 point2)
Private Attributes
std::vector< std::vector < PropDistanceFieldVoxel * > >	bucket_queue_
	Structure used to hold propogation frontier.
std::vector< int3 >	direction_number_to_direction_
double	max_distance_
int	max_distance_sq_
std::vector< std::vector < std::vector< int3 > > >	neighborhoods_
VoxelSet	object_voxel_locations_
std::vector< double >	sqrt_table_

Detailed Description

A DistanceField implementation that uses a vector propagation method.

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.

Definition at line 108 of file propagation_distance_field.h.

Member Typedef Documentation

typedef std::set<int3, compareInt3> distance_field::PropagationDistanceField::VoxelSet [private]

The set of all the obstacle voxels.

Definition at line 149 of file propagation_distance_field.h.

Constructor & Destructor Documentation

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

Constructor for the DistanceField.

Definition at line 47 of file propagation_distance_field.cpp.

distance_field::PropagationDistanceField::~PropagationDistanceField ( ) [virtual]

Definition at line 43 of file propagation_distance_field.cpp.

Member Function Documentation

void distance_field::PropagationDistanceField::addNewObstacleVoxels ( const VoxelSet & points ) [private]

Definition at line 167 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::addPointsToField ( const std::vector< tf::Vector3 > & points ) [virtual]

Add (and expand) a set of points to the distance field.

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 139 of file propagation_distance_field.cpp.

int distance_field::PropagationDistanceField::eucDistSq	(	int3	point1,
		int3	point2
	)		`[static, private]`

Definition at line 64 of file propagation_distance_field.cpp.

int distance_field::PropagationDistanceField::getDirectionNumber	(	int	dx,
		int	dy,
		int	dz
	)		const `[private]`

Definition at line 434 of file propagation_distance_field.cpp.

double distance_field::PropagationDistanceField::getDistance ( const PropDistanceFieldVoxel & object ) const [inline, private, virtual]

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 194 of file propagation_distance_field.h.

int3 distance_field::PropagationDistanceField::getLocationDifference ( int directionNumber ) const [private]

Definition at line 439 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::getOccupiedVoxelMarkers	(	const std::string &	frame_id,
		const ros::Time	stamp,
		const tf::Transform &	cur,
		visualization_msgs::Marker &	marker
	)

Get visualization markers for the set of occupied cells.

Parameters:

marker the marker to be published

Definition at line 329 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::initNeighborhoods ( ) [private]

Definition at line 376 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::propogate ( ) [private]

Definition at line 257 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::removeObstacleVoxels ( const VoxelSet & points ) [private]

Definition at line 194 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::reset ( ) [virtual]

Resets the distance field to the max_distance.

Implements distance_field::DistanceField< PropDistanceFieldVoxel >.

Definition at line 371 of file propagation_distance_field.cpp.

void distance_field::PropagationDistanceField::updatePointsInField	(	const std::vector< tf::Vector3 > &	points,
		const bool	iterative = `true`
	)		`[virtual]`

Change the set of obstacle points and recalculate the distance field (if there are any changes).

Parameters:

iterative Calculate the changes in the object voxels, and propogate the changes outward. Otherwise, clear the distance map and recalculate the entire voxel map.

Definition at line 72 of file propagation_distance_field.cpp.