Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
vigir_footstep_planning::TerrainModel Class Reference

#include <terrain_model.h>

List of all members.

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

Definition at line 79 of file terrain_model.h.

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.

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.

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.

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.


Member Data Documentation

geometry_msgs::Vector3 vigir_footstep_planning::TerrainModel::foot_size [protected]

Definition at line 102 of file terrain_model.h.

Definition at line 98 of file terrain_model.h.

Definition at line 97 of file terrain_model.h.

Definition at line 95 of file terrain_model.h.

Definition at line 96 of file terrain_model.h.

Definition at line 93 of file terrain_model.h.

Definition at line 94 of file terrain_model.h.

Definition at line 99 of file terrain_model.h.

vigir_terrain_classifier::TerrainModel::Ptr vigir_footstep_planning::TerrainModel::terrain_model [protected]

Definition at line 90 of file terrain_model.h.

Definition at line 88 of file terrain_model.h.

Definition at line 85 of file terrain_model.h.


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


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:40