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

#include <shape_mask.h>

Classes
struct	SeeShape
struct	SortBodies
Public Types
enum	{ INSIDE = 0, OUTSIDE = 1, CLIP = 2 }
	The possible values of a mask computed for a point. More...
typedef boost::function< bool(ShapeHandle, Eigen::Affine3d &)>	TransformCallback
Public Member Functions
ShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0)
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.
int	getMaskContainment (const Eigen::Vector3d &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.
void	maskContainment (const sensor_msgs::PointCloud2 &data_in, const Eigen::Vector3d &sensor_pos, const double min_sensor_dist, const double max_sensor_dist, 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	removeShape (ShapeHandle handle)
void	setTransformCallback (const TransformCallback &transform_callback)
	ShapeMask (const TransformCallback &transform_callback=TransformCallback())
	Construct the filter.
	~ShapeMask ()
	Destructor to clean up.
Private Member Functions
void	freeMemory ()
	Free memory.
Private Attributes
std::set< SeeShape, SortBodies >	bodies_
std::vector < bodies::BoundingSphere >	bspheres_
ShapeHandle	min_handle_
ShapeHandle	next_handle_
boost::mutex	shapes_lock_
TransformCallback	transform_callback_
std::map< ShapeHandle, std::set< SeeShape, SortBodies > ::iterator >	used_handles_

Detailed Description

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

Definition at line 55 of file shape_mask.h.

Member Typedef Documentation

typedef boost::function<bool(ShapeHandle, Eigen::Affine3d&)> point_containment_filter::ShapeMask::TransformCallback

Definition at line 66 of file shape_mask.h.

Member Enumeration Documentation

anonymous enum

The possible values of a mask computed for a point.

Enumerator:

INSIDE
OUTSIDE
CLIP

Definition at line 59 of file shape_mask.h.

Constructor & Destructor Documentation

point_containment_filter::ShapeMask::ShapeMask ( const TransformCallback & transform_callback = TransformCallback() )

Construct the filter.

Definition at line 42 of file shape_mask.cpp.

point_containment_filter::ShapeMask::~ShapeMask ( )

Destructor to clean up.

Definition at line 47 of file shape_mask.cpp.

Member Function Documentation

point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addShape	(	const shapes::ShapeConstPtr &	shape,
		double	scale = `1.0`,
		double	padding = `0.0`
	)

Definition at line 65 of file shape_mask.cpp.

void point_containment_filter::ShapeMask::freeMemory ( ) [private]

Free memory.

Definition at line 52 of file shape_mask.cpp.

int point_containment_filter::ShapeMask::getMaskContainment	(	double	x,
		double	y,
		double	z
	)		const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 178 of file shape_mask.cpp.

int point_containment_filter::ShapeMask::getMaskContainment ( const Eigen::Vector3d & pt ) const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 167 of file shape_mask.cpp.

void point_containment_filter::ShapeMask::maskContainment	(	const sensor_msgs::PointCloud2 &	data_in,
		const Eigen::Vector3d &	sensor_pos,
		const double	min_sensor_dist,
		const double	max_sensor_dist,
		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 113 of file shape_mask.cpp.

void point_containment_filter::ShapeMask::removeShape ( ShapeHandle handle )

Definition at line 98 of file shape_mask.cpp.

void point_containment_filter::ShapeMask::setTransformCallback ( const TransformCallback & transform_callback )

Definition at line 59 of file shape_mask.cpp.