pf_distance_field.h

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#ifndef PF_DISTANCE_FIELD_H_
#define PF_DISTANCE_FIELD_H_

#include <distance_field/distance_field.h>

namespace distance_field
{

class PFDistanceField: public DistanceField<float>
{
public:
  PFDistanceField(double size_x, double size_y, double size_z, double resolution,
      double origin_x, double origin_y, double origin_z);

  virtual ~PFDistanceField();


  typedef std::vector<float> FloatArray;
  typedef std::vector<int>   IntArray;

  virtual void addPointsToField(const std::vector<tf::Vector3> points);
  virtual void reset();

  const float DT_INF;

private:
  inline float sqr(float x) { return x*x; }
  void dt(const FloatArray& f, size_t nn, FloatArray& ft, IntArray& v, FloatArray& z);
  void computeDT();
  virtual double getDistance(const float& object) const;

};


inline double PFDistanceField::getDistance(const float& object) const
{
  return sqrt(object)*this->resolution_[DIM_X];
}

}

#endif /* PF_DISTANCE_FIELD_H_ */