#include <terrain_model.h>

Public Types
typedef boost::shared_ptr < TerrainModel >	ConstPtr
typedef boost::shared_ptr < TerrainModel >	Ptr
Public Member Functions
bool	getFootContactSupport (const geometry_msgs::Pose &p, double &support, pcl::PointCloud< pcl::PointXYZI >::Ptr checked_positions=pcl::PointCloud< pcl::PointXYZI >::Ptr()) const override
bool	getFootContactSupport (const tf::Pose &p, double &support, pcl::PointCloud< pcl::PointXYZI >::Ptr checked_positions=pcl::PointCloud< pcl::PointXYZI >::Ptr()) const
bool	getHeight (double x, double y, double &height) const override
bool	getPointWithNormal (const pcl::PointNormal &p_search, pcl::PointNormal &p_result) const override
double	getResolution () const override
bool	initialize (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
bool	isAccessible (const State &s) const override
bool	isAccessible (const State &next, const State &current) const override
bool	isTerrainModelAvailable () const override
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
void	reset ()
void	setTerrainModel (const vigir_terrain_classifier::TerrainModelMsg::ConstPtr &terrain_model)
	TerrainModel (const std::string &name="terrain_model")
bool	update3DData (geometry_msgs::Pose &p) const override
bool	update3DData (State &s) const override
Protected Member Functions
bool	getFootContactSupport (const tf::Pose &p, double &support, unsigned int sampling_steps_x, unsigned int sampling_steps_y, pcl::PointCloud< pcl::PointXYZI >::Ptr checked_positions=pcl::PointCloud< pcl::PointXYZI >::Ptr()) const
Protected Attributes
geometry_msgs::Vector3	foot_size
double	max_ground_clearance
double	max_intrusion_z
unsigned int	max_sampling_steps_x
unsigned int	max_sampling_steps_y
unsigned int	min_sampling_steps_x
unsigned int	min_sampling_steps_y
double	minimal_support
vigir_terrain_classifier::TerrainModel::Ptr	terrain_model
boost::shared_mutex	terrain_model_shared_mutex
ros::Subscriber	terrain_model_sub

Detailed Description

Definition at line 48 of file terrain_model.h.

Member Typedef Documentation

typedef boost::shared_ptr<TerrainModel> vigir_footstep_planning::TerrainModel::ConstPtr

Definition at line 79 of file terrain_model.h.

typedef boost::shared_ptr<TerrainModel> vigir_footstep_planning::TerrainModel::Ptr

Definition at line 78 of file terrain_model.h.

Constructor & Destructor Documentation

vigir_footstep_planning::TerrainModel::TerrainModel ( const std::string & name = "terrain_model" )

Definition at line 17 of file terrain_model.cpp.

Member Function Documentation

bool vigir_footstep_planning::TerrainModel::getFootContactSupport	(	const geometry_msgs::Pose &	p,
		double &	support,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	checked_positions = `pcl::PointCloud<pcl::PointXYZI>::Ptr()`
	)		const `[override]`

Definition at line 108 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::getFootContactSupport	(	const tf::Pose &	p,
		double &	support,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	checked_positions = `pcl::PointCloud<pcl::PointXYZI>::Ptr()`
	)		const

Definition at line 115 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::getFootContactSupport	(	const tf::Pose &	p,
		double &	support,
		unsigned int	sampling_steps_x,
		unsigned int	sampling_steps_y,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	checked_positions = `pcl::PointCloud<pcl::PointXYZI>::Ptr()`
	)		const `[protected]`

TODO: find efficient solution to prevent inconsistency

@ TODO: refinement (center of pressure)

Definition at line 134 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::getHeight	(	double	x,
		double	y,
		double &	height
	)		const `[override]`

Definition at line 102 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::getPointWithNormal	(	const pcl::PointNormal &	p_search,
		pcl::PointNormal &	p_result
	)		const `[override]`

Definition at line 96 of file terrain_model.cpp.

double vigir_footstep_planning::TerrainModel::getResolution ( ) const [override]

Definition at line 90 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::initialize ( const vigir_generic_params::ParameterSet & params = vigir_generic_params::ParameterSet() ) [override]

Definition at line 22 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::isAccessible ( const State & s ) const [override]

Definition at line 64 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::isAccessible	(	const State &	next,
		const State &	current
	)		const `[override]`

Definition at line 69 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::isTerrainModelAvailable ( ) const [override]

Definition at line 74 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::loadParams ( const vigir_generic_params::ParameterSet & params = vigir_generic_params::ParameterSet() ) [override]

Definition at line 38 of file terrain_model.cpp.

void vigir_footstep_planning::TerrainModel::reset ( )

Definition at line 54 of file terrain_model.cpp.

void vigir_footstep_planning::TerrainModel::setTerrainModel ( const vigir_terrain_classifier::TerrainModelMsg::ConstPtr & terrain_model )

Definition at line 79 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::update3DData ( geometry_msgs::Pose & p ) const [override]

Definition at line 210 of file terrain_model.cpp.

bool vigir_footstep_planning::TerrainModel::update3DData ( State & s ) const [override]

TODO: find efficient solution to prevent inconsistency

Definition at line 215 of file terrain_model.cpp.