#include <terrain_model.h>

Inheritance diagram for vigir_footstep_planning::TerrainModel:

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.

Member Data Documentation

geometry_msgs::Vector3 vigir_footstep_planning::TerrainModel::foot_size

protected

Definition at line 102 of file terrain_model.h.

double vigir_footstep_planning::TerrainModel::max_ground_clearance

protected

Definition at line 98 of file terrain_model.h.

double vigir_footstep_planning::TerrainModel::max_intrusion_z

protected

Definition at line 97 of file terrain_model.h.

unsigned int vigir_footstep_planning::TerrainModel::max_sampling_steps_x

protected

Definition at line 95 of file terrain_model.h.

unsigned int vigir_footstep_planning::TerrainModel::max_sampling_steps_y

protected

Definition at line 96 of file terrain_model.h.

unsigned int vigir_footstep_planning::TerrainModel::min_sampling_steps_x

protected

Definition at line 93 of file terrain_model.h.

unsigned int vigir_footstep_planning::TerrainModel::min_sampling_steps_y

protected

Definition at line 94 of file terrain_model.h.

double vigir_footstep_planning::TerrainModel::minimal_support

protected

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.

boost::shared_mutex vigir_footstep_planning::TerrainModel::terrain_model_shared_mutex

mutableprotected

Definition at line 88 of file terrain_model.h.

ros::Subscriber vigir_footstep_planning::TerrainModel::terrain_model_sub

protected

Definition at line 85 of file terrain_model.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation