distance_field Namespace Reference

Namespace for holding classes that generate distance fields. More...

Classes
struct	compareEigen_Vector3i
	Struct for sorting type Eigen::Vector3i for use in sorted std containers. Sorts in z order, then y order, then x order. More...
class	DistanceField
	DistanceField is an abstract base class for computing distances from sets of 3D obstacle points. The distance assigned to a freespace cell should be the distance to the closest obstacle cell. Cells that are obstacle cells should either be marked as zero distance, or may have a negative distance if a signed version of the distance field is being used and an obstacle point is internal to an obstacle volume. More...
class	PropagationDistanceField
	A DistanceField implementation that uses a vector propagation method. Distances propagate outward from occupied cells, or inwards from unoccupied cells if negative distances are to be computed, which is optional. Outward and inward propagation only occur to a desired maximum distance - cells that are more than this maximum distance from the nearest cell will have maximum distance measurements. More...
struct	PropDistanceFieldVoxel
	Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...
class	VoxelGrid
	VoxelGrid holds a dense 3D, axis-aligned set of data at a given resolution, where the data is supplied as a template parameter. More...
Enumerations
enum	Dimension { DIM_X = 0, DIM_Y = 1, DIM_Z = 2 }
	Specifies dimension of different axes. More...
enum	PlaneVisualizationType { XYPlane, XZPlane, YZPlane }
	The plane to visualize. More...
Functions
static EigenSTL::vector_Vector3d	determineCollisionPoints (const bodies::Body *body, double resolution)
	Determines a set of obstacle points given a body and a particular resolution.

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Detailed Description

Namespace for holding classes that generate distance fields.

Distance fields are dense 3D representations containing the distance to the nearest obstacles.

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Enumeration Type Documentation

enum distance_field::Dimension

Specifies dimension of different axes.

Enumerator:

DIM_X
DIM_Y
DIM_Z

Definition at line 47 of file voxel_grid.h.

enum distance_field::PlaneVisualizationType

The plane to visualize.

Enumerator:

XYPlane
XZPlane
YZPlane

Definition at line 62 of file distance_field.h.

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Function Documentation

static EigenSTL::vector_Vector3d distance_field::determineCollisionPoints	(	const bodies::Body *	body,
		double	resolution
	)		[inline, static]

Determines a set of obstacle points given a body and a particular resolution.

This function computes a bounding sphere and iterates through it in 3D at the specified resolution. It tests each iterated for inclusion in the body, returning the set of points that are reported as being included in the body.

Parameters:

[in]	body	The body to discretize
[in]	resolution	The resolution at which to test

Returns:

The set of points in the bounding sphere that return as included in the body

Definition at line 61 of file distance_field_common.h.