grid_map::SignedDistanceField Class Reference

#include <SignedDistanceField.hpp>

List of all members.

Public Member Functions
void	calculateSignedDistanceField (const GridMap &gridMap, const std::string &layer, const double heightClearance)
void	convertToPointCloud (pcl::PointCloud< pcl::PointXYZI > &points) const
double	getDistanceAt (const Position3 &position) const
Vector3	getDistanceGradientAt (const Position3 &position) const
double	getInterpolatedDistanceAt (const Position3 &position) const
	SignedDistanceField ()
virtual	~SignedDistanceField ()
Private Member Functions
Matrix	getPlanarSignedDistanceField (Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic > &data) const
Private Attributes
std::vector< Matrix >	data_
const float	lowestHeight_
float	maxDistance_
Position	position_
double	resolution_
Size	size_
float	zIndexStartHeight_

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Detailed Description

Definition at line 21 of file SignedDistanceField.hpp.

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Constructor & Destructor Documentation

grid_map::SignedDistanceField::SignedDistanceField

(

)

Definition at line 20 of file SignedDistanceField.cpp.

grid_map::SignedDistanceField::~SignedDistanceField

(

)

[virtual]

Definition at line 28 of file SignedDistanceField.cpp.

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Member Function Documentation

void grid_map::SignedDistanceField::calculateSignedDistanceField	(	const GridMap &	gridMap,
		const std::string &	layer,
		const double	heightClearance
	)

Definition at line 32 of file SignedDistanceField.cpp.

void grid_map::SignedDistanceField::convertToPointCloud

(

pcl::PointCloud< pcl::PointXYZI > &

points

)

const

Definition at line 162 of file SignedDistanceField.cpp.

double grid_map::SignedDistanceField::getDistanceAt

(

const Position3 &

position

)

const

Definition at line 106 of file SignedDistanceField.cpp.

Vector3 grid_map::SignedDistanceField::getDistanceGradientAt

(

const Position3 &

position

)

const

Definition at line 143 of file SignedDistanceField.cpp.

double grid_map::SignedDistanceField::getInterpolatedDistanceAt

(

const Position3 &

position

)

const

Definition at line 122 of file SignedDistanceField.cpp.

grid_map::Matrix grid_map::SignedDistanceField::getPlanarSignedDistanceField

(

Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic > &

data

)

const [private]

Definition at line 82 of file SignedDistanceField.cpp.

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Member Data Documentation

std::vector<Matrix> grid_map::SignedDistanceField::data_ [private]

Definition at line 39 of file SignedDistanceField.hpp.

const float grid_map::SignedDistanceField::lowestHeight_ [private]

Definition at line 42 of file SignedDistanceField.hpp.

float grid_map::SignedDistanceField::maxDistance_ [private]

Definition at line 41 of file SignedDistanceField.hpp.

Position grid_map::SignedDistanceField::position_ [private]

Definition at line 38 of file SignedDistanceField.hpp.

double grid_map::SignedDistanceField::resolution_ [private]

Definition at line 36 of file SignedDistanceField.hpp.

Size grid_map::SignedDistanceField::size_ [private]

Definition at line 37 of file SignedDistanceField.hpp.

float grid_map::SignedDistanceField::zIndexStartHeight_ [private]

Definition at line 40 of file SignedDistanceField.hpp.

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

• SignedDistanceField.hpp
• SignedDistanceField.cpp