A DynamicEDT3D object computes and updates a 3D distance map. More...

#include <dynamicEDT3D.h>

Inheritance diagram for DynamicEDT3D:

Classes
struct	dataCell
Public Types
enum	ObstDataState { invalidObstData = INT_MAX }
Public Member Functions
void	clearCell (int x, int y, int z)
	remove an obstacle at the specified cell coordinate
	DynamicEDT3D (int _maxdist_squared)
void	exchangeObstacles (std::vector< INTPOINT3D > newObstacles)
	remove old dynamic obstacles and add the new ones
INTPOINT3D	getClosestObstacle (int x, int y, int z) const
	gets the closest occupied cell for that location
float	getDistance (int x, int y, int z) const
	returns the obstacle distance at the specified location
unsigned int	getSizeX () const
	returns the x size of the workspace/map
unsigned int	getSizeY () const
	returns the y size of the workspace/map
unsigned int	getSizeZ () const
	returns the z size of the workspace/map
int	getSQCellDistance (int x, int y, int z) const
	returns the squared obstacle distance in cell units at the specified location
void	initializeEmpty (int _sizeX, int _sizeY, int sizeZ, bool initGridMap=true)
	Initialization with an empty map.
void	initializeMap (int _sizeX, int _sizeY, int sizeZ, bool ***_gridMap)
	Initialization with a given binary map (false==free, true==occupied)
bool	isOccupied (int x, int y, int z) const
	checks whether the specficied location is occupied
void	occupyCell (int x, int y, int z)
	add an obstacle at the specified cell coordinate
virtual void	update (bool updateRealDist=true)
	update distance map to reflect the changes
	~DynamicEDT3D ()
Static Public Attributes
static int	distanceInCellsValue_Error = -1
	distance value returned when requesting distance in cell units for a cell outside the map
static float	distanceValue_Error = -1.0
	distance value returned when requesting distance for a cell outside the map
Protected Types
enum	QueueingState { fwNotQueued = 1, fwQueued = 2, fwProcessed = 3, bwQueued = 4, bwProcessed = 1 }
enum	State { free = 0, occupied = 1 }
Protected Member Functions
void	inspectCellPropagate (int &nx, int &ny, int &nz, dataCell &c, bool updateRealDist)
void	inspectCellRaise (int &nx, int &ny, int &nz, bool updateRealDist)
void	propagateCell (INTPOINT3D &p, dataCell &c, bool updateRealDist)
void	raiseCell (INTPOINT3D &p, dataCell &c, bool updateRealDist)
void	removeObstacle (int x, int y, int z)
void	setObstacle (int x, int y, int z)
Protected Attributes
dataCell ***	data
double	doubleThreshold
bool ***	gridMap
double	maxDist
int	maxDist_squared
int	padding
int	sizeX
int	sizeXm1
int	sizeY
int	sizeYm1
int	sizeZ
int	sizeZm1
double	sqrt2
Private Member Functions
void	commitAndColorize (bool updateRealDist=true)
bool	isOccupied (int &x, int &y, int &z, dataCell &c)
Private Attributes
std::vector< INTPOINT3D >	addList
std::vector< INTPOINT3D >	lastObstacles
BucketPrioQueue< INTPOINT3D >	open
std::vector< INTPOINT3D >	removeList

Detailed Description

A DynamicEDT3D object computes and updates a 3D distance map.

dynamicEDT3D: A library for incrementally updatable Euclidean distance transforms in 3D.

Author:: C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.

See also:: http://octomap.sourceforge.net/ License: New BSD License

Definition at line 47 of file dynamicEDT3D.h.

Member Enumeration Documentation

enum DynamicEDT3D::ObstDataState

Enumerator:

invalidObstData

Definition at line 86 of file dynamicEDT3D.h.

enum DynamicEDT3D::QueueingState [protected]

Enumerator:

fwNotQueued
fwQueued
fwProcessed
bwQueued
bwProcessed

Definition at line 105 of file dynamicEDT3D.h.

enum DynamicEDT3D::State [protected]

Enumerator:

free
occupied

Definition at line 104 of file dynamicEDT3D.h.

Constructor & Destructor Documentation

DynamicEDT3D::DynamicEDT3D ( int _maxdist_squared )

Definition at line 109 of file dynamicEDT3D.cpp.

DynamicEDT3D::~DynamicEDT3D ( )

Definition at line 117 of file dynamicEDT3D.cpp.

Member Function Documentation

void DynamicEDT3D::clearCell	(	int	x,
		int	y,
		int	z
	)

remove an obstacle at the specified cell coordinate

Definition at line 260 of file dynamicEDT3D.cpp.

void DynamicEDT3D::commitAndColorize ( bool updateRealDist = true ) [private]

Definition at line 544 of file dynamicEDT3D.cpp.

void DynamicEDT3D::exchangeObstacles ( std::vector< INTPOINT3D > newObstacles )

remove old dynamic obstacles and add the new ones

Definition at line 288 of file dynamicEDT3D.cpp.

INTPOINT3D DynamicEDT3D::getClosestObstacle	(	int	x,
		int	y,
		int	z
	)		const

gets the closest occupied cell for that location

Definition at line 528 of file dynamicEDT3D.cpp.

float DynamicEDT3D::getDistance	(	int	x,
		int	y,
		int	z
	)		const

returns the obstacle distance at the specified location

Definition at line 521 of file dynamicEDT3D.cpp.

unsigned int DynamicEDT3D::getSizeX ( ) const [inline]

returns the x size of the workspace/map

Definition at line 80 of file dynamicEDT3D.h.

unsigned int DynamicEDT3D::getSizeY ( ) const [inline]

returns the y size of the workspace/map

Definition at line 82 of file dynamicEDT3D.h.

unsigned int DynamicEDT3D::getSizeZ ( ) const [inline]

returns the z size of the workspace/map

Definition at line 84 of file dynamicEDT3D.h.

int DynamicEDT3D::getSQCellDistance	(	int	x,
		int	y,
		int	z
	)		const

returns the squared obstacle distance in cell units at the specified location

Definition at line 536 of file dynamicEDT3D.cpp.

void DynamicEDT3D::initializeEmpty	(	int	_sizeX,
		int	_sizeY,
		int	sizeZ,
		bool	initGridMap = `true`
	)

Initialization with an empty map.

Definition at line 139 of file dynamicEDT3D.cpp.

void DynamicEDT3D::initializeMap	(	int	_sizeX,
		int	_sizeY,
		int	sizeZ,
		bool ***	_gridMap
	)

Initialization with a given binary map (false==free, true==occupied)

Definition at line 209 of file dynamicEDT3D.cpp.

void DynamicEDT3D::inspectCellPropagate	(	int &	nx,
		int &	ny,
		int &	nz,
		dataCell &	c,
		bool	updateRealDist
	)		`[inline, protected]`

Definition at line 480 of file dynamicEDT3D.cpp.

void DynamicEDT3D::inspectCellRaise	(	int &	nx,
		int &	ny,
		int &	nz,
		bool	updateRealDist
	)		`[inline, protected]`

Definition at line 362 of file dynamicEDT3D.cpp.

bool DynamicEDT3D::isOccupied	(	int	x,
		int	y,
		int	z
	)		const

checks whether the specficied location is occupied

Definition at line 584 of file dynamicEDT3D.cpp.

bool DynamicEDT3D::isOccupied	(	int &	x,
		int &	y,
		int &	z,
		dataCell &	c
	)		`[inline, private]`

Definition at line 589 of file dynamicEDT3D.cpp.

void DynamicEDT3D::occupyCell	(	int	x,
		int	y,
		int	z
	)

add an obstacle at the specified cell coordinate

Definition at line 255 of file dynamicEDT3D.cpp.

void DynamicEDT3D::propagateCell	(	INTPOINT3D &	p,
		dataCell &	c,
		bool	updateRealDist
	)		`[inline, protected]`

Definition at line 385 of file dynamicEDT3D.cpp.

void DynamicEDT3D::raiseCell	(	INTPOINT3D &	p,
		dataCell &	c,
		bool	updateRealDist
	)		`[inline, protected]`

Definition at line 338 of file dynamicEDT3D.cpp.

void DynamicEDT3D::removeObstacle	(	int	x,
		int	y,
		int	z
	)		`[protected]`

Definition at line 276 of file dynamicEDT3D.cpp.

void DynamicEDT3D::setObstacle	(	int	x,
		int	y,
		int	z
	)		`[protected]`

Definition at line 265 of file dynamicEDT3D.cpp.

void DynamicEDT3D::update ( bool updateRealDist = true ) [virtual]

update distance map to reflect the changes

Reimplemented in DynamicEDTOctomap.

Definition at line 313 of file dynamicEDT3D.cpp.

Member Data Documentation

std::vector<INTPOINT3D> DynamicEDT3D::addList [private]

Definition at line 125 of file dynamicEDT3D.h.

dataCell*** DynamicEDT3D::data [protected]

Definition at line 137 of file dynamicEDT3D.h.

int DynamicEDT3D::distanceInCellsValue_Error = -1 [static]

distance value returned when requesting distance in cell units for a cell outside the map

Reimplemented in DynamicEDTOctomap.

Definition at line 91 of file dynamicEDT3D.h.

float DynamicEDT3D::distanceValue_Error = -1.0 [static]

distance value returned when requesting distance for a cell outside the map

Reimplemented in DynamicEDTOctomap.

Definition at line 89 of file dynamicEDT3D.h.

double DynamicEDT3D::doubleThreshold [protected]

Definition at line 142 of file dynamicEDT3D.h.

bool*** DynamicEDT3D::gridMap [protected]

Definition at line 138 of file dynamicEDT3D.h.

std::vector<INTPOINT3D> DynamicEDT3D::lastObstacles [private]

Definition at line 126 of file dynamicEDT3D.h.

double DynamicEDT3D::maxDist [protected]

Definition at line 145 of file dynamicEDT3D.h.

int DynamicEDT3D::maxDist_squared [protected]

Definition at line 146 of file dynamicEDT3D.h.

BucketPrioQueue<INTPOINT3D> DynamicEDT3D::open [private]

Definition at line 122 of file dynamicEDT3D.h.

int DynamicEDT3D::padding [protected]

Definition at line 141 of file dynamicEDT3D.h.

std::vector<INTPOINT3D> DynamicEDT3D::removeList [private]

Definition at line 124 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeX [protected]

Definition at line 130 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeXm1 [protected]

Definition at line 133 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeY [protected]

Definition at line 131 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeYm1 [protected]

Definition at line 134 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeZ [protected]

Definition at line 132 of file dynamicEDT3D.h.

int DynamicEDT3D::sizeZm1 [protected]

Definition at line 135 of file dynamicEDT3D.h.

double DynamicEDT3D::sqrt2 [protected]

Definition at line 144 of file dynamicEDT3D.h.

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation