Public Member Functions
	GridMapPclConverter ()
virtual	~GridMapPclConverter ()
Static Public Member Functions
static bool	addLayerFromPolygonMesh (const pcl::PolygonMesh &mesh, const std::string &layer, grid_map::GridMap &gridMap)
static bool	initializeFromPolygonMesh (const pcl::PolygonMesh &mesh, const double resolution, grid_map::GridMap &gridMap)
Static Private Member Functions
static bool	rayTriangleIntersect (const Eigen::Vector3f &point, const Eigen::Vector3f &ray, const Eigen::Matrix3f &triangleVertices, Eigen::Vector3f &intersectionPoint)

Detailed Description

Conversions between grid maps and PCL types.

Definition at line 31 of file GridMapPclConverter.hpp.

Constructor & Destructor Documentation

grid_map::GridMapPclConverter::GridMapPclConverter ( )

Default constructor.

Definition at line 13 of file GridMapPclConverter.cpp.

grid_map::GridMapPclConverter::~GridMapPclConverter ( ) [virtual]

Destructor.

Definition at line 17 of file GridMapPclConverter.cpp.

bool grid_map::GridMapPclConverter::addLayerFromPolygonMesh	(	const pcl::PolygonMesh &	mesh,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)		`[static]`

Adds a layer with data from a polygon mesh. The mesh is ray traced from above (negative z-Direction).

Parameters:

[in]	mesh	the mesh to be added. It can only consist of triangles!
[in]	layer	the layer that is filled with the mesh data.
[out]	gridMap	the grid map to be populated.

Definition at line 39 of file GridMapPclConverter.cpp.

bool grid_map::GridMapPclConverter::initializeFromPolygonMesh	(	const pcl::PolygonMesh &	mesh,
		const double	resolution,
		grid_map::GridMap &	gridMap
	)		`[static]`

Initializes the geometry of a grid map from a polygon mesh. This changes the geometry of the map and deletes all contents of the layers!

Parameters:

[in]	mesh	the mesh.
[in]	resolution	the desired resolution of the grid map [m/cell].
[out]	gridMap	the grid map to be initialized.

Definition at line 21 of file GridMapPclConverter.cpp.

bool grid_map::GridMapPclConverter::rayTriangleIntersect	(	const Eigen::Vector3f &	point,
		const Eigen::Vector3f &	ray,
		const Eigen::Matrix3f &	triangleVertices,
		Eigen::Vector3f &	intersectionPoint
	)		`[static, private]`

Definition at line 100 of file GridMapPclConverter.cpp.

The documentation for this class was generated from the following files: