Class PotentialFieldObstacle

Defined in File pf_obstacle.hpp

Class Documentation

class PotentialFieldObstacle

Represents a single obstacle in the potential field environment.

Holds a world-frame pose (position + orientation), a group classification, and a concrete ObstacleGeometry that describes the shape. All signed-distance, normal, and Coal collision-object operations are delegated to the geometry.

Public Functions

PotentialFieldObstacle() = delete

~PotentialFieldObstacle() = default

inline PotentialFieldObstacle(std::string frameID, Eigen::Vector3d centerPosition, Eigen::Quaterniond orientation, ObstacleGroup group, std::unique_ptr<ObstacleGeometry> geometry, const std::string &meshResource = std::string(), const Eigen::Vector3d &meshScale = Eigen::Vector3d::Ones())

Constructs a PotentialFieldObstacle.

Parameters:

frameID – Unique identifier for this obstacle (e.g. “link1::collision”).
centerPosition – World-frame center position.
orientation – World-frame orientation.
group – Obstacle group (STATIC, DYNAMIC, ROBOT).
geometry – Concrete geometry describing the obstacle shape. Ownership is transferred via unique_ptr.
meshResource – URI to the mesh file (used only when geometry is MeshGeometry).
meshScale – Scale applied to the mesh for visualization.

inline PotentialFieldObstacle(const PotentialFieldObstacle &other)

inline PotentialFieldObstacle(PotentialFieldObstacle &&other) noexcept

inline PotentialFieldObstacle &operator=(const PotentialFieldObstacle &other)

inline bool operator==(const PotentialFieldObstacle &other) const

inline bool operator!=(const PotentialFieldObstacle &other) const

inline std::string getFrameID() const

inline ObstacleGroup getGroup() const

inline Eigen::Vector3d getPosition() const

inline Eigen::Quaterniond getOrientation() const

inline ObstacleType getType() const

inline const ObstacleGeometry &getGeometry() const

inline const std::string &getMeshResource() const

inline Eigen::Vector3d getMeshScale() const

inline std::shared_ptr<coal::CollisionObject> getCoalCollisionObject() const

inline void setPose(const Eigen::Vector3d newPosition, const Eigen::Quaterniond newOrientation)

inline void setPosition(Eigen::Vector3d newPosition)

inline void setOrientation(Eigen::Quaterniond newOrientation)

inline void setMeshCollisionData(const std::shared_ptr<MeshCollisionData> &meshData)

inline void setMeshProperties(const std::string &meshResource, const Eigen::Vector3d &meshScale)

bool withinInfluenceZone(Eigen::Vector3d worldPoint, double influenceDistance) const

bool withinObstacle(Eigen::Vector3d worldPoint) const

Eigen::Vector3d toObstacleFrame(const Eigen::Vector3d &worldPoint) const

Rotate the given point into the obstacle’s local frame.

Parameters:: worldPoint – Point in world coordinates.
Returns:: The point expressed in the obstacle’s local frame.

Eigen::Vector3d halfDimensions() const

Returns the half-dimensions of the obstacle’s axis-aligned bounding box.

Used for broad-phase influence-zone checks.

void computeSignedDistanceAndNormal(const Eigen::Vector3d &worldPoint, double &signedDistance, Eigen::Vector3d &normal) const

Computes the signed distance and outward normal from a world point to the obstacle surface.

Parameters:

worldPoint – [in] Query point in world coordinates.
signedDistance – [out] Distance to the surface (negative if inside).
normal – [out] Outward unit normal in world coordinates.

std::shared_ptr<coal::CollisionObject> toCoalCollisionObject()

Creates (or returns the cached) Coal collision object for this obstacle.

Returns:: Shared pointer to the Coal collision object.

void updateCoalCollisionObjectPose() const: Updates the cached Coal collision object’s pose to match the current obstacle position and orientation.