#include <mesh_map.h>

Public Types
typedef boost::shared_ptr< MeshMap >	Ptr

Public Member Functions
bool	barycentricCoords (const Vector &p, const lvr2::FaceHandle &triangle, float &u, float &v, float &w)

void	combineVertexCosts ()
	A method which combines all layer costs with the respective weightings. More...

float	costAtPosition (const lvr2::DenseVertexMap< float > &costs, const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)

float	costAtPosition (const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)

boost::optional< Vector >	directionAtPosition (const lvr2::VertexMap< lvr2::BaseVector< float >> &vector_map, const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)

const lvr2::DenseEdgeMap< float > &	edgeDistances ()
	Returns the mesh's vertex distances. More...

const lvr2::DenseEdgeMap< float > &	edgeWeights ()
	Returns the mesh's edge weights. More...

const lvr2::DenseFaceMap< Normal > &	faceNormals ()
	Returns the mesh's triangle normals. More...

void	findContours (std::vector< std::vector< lvr2::VertexHandle >> &contours, int min_contour_size)
	Computes contours. More...

void	findLethalByContours (const int &min_contour_size, std::set< lvr2::VertexHandle > &lethals)
	Compute all contours and returns the corresponding vertices to use these as lethal vertices. More...

lvr2::OptionalFaceHandle	getContainingFace (Vector &position, const float &max_dist)
	Searches for a triangle which contains the given position with respect to the maximum distance. More...

const std::string	getGlobalFrameID ()
	Returns the global frame / coordinate system id string. More...

lvr2::OptionalVertexHandle	getNearestVertexHandle (const mesh_map::Vector &pos)
	Return and optional vertex handle of to the closest vertex to the given position. More...

const lvr2::DenseVertexMap< mesh_map::Vector > &	getVectorMap ()
	Returns the stored vector map. More...

bool	initLayerPlugins ()
	Initialized all loaded layer plugins. More...

bool	inTriangle (const Vector &pos, const lvr2::FaceHandle &face, const float &dist)
	return true if the given position lies inside the triangle with respect to the given maximum distance. More...

bool	isLethal (const lvr2::VertexHandle &vH)
	Checks if the given vertex handle corresponds to a lethal / not passable vertex. More...

mesh_map::AbstractLayer::Ptr	layer (const std::string &layer_name)
	returns a shared pointer to the specified layer More...

void	layerChanged (const std::string &layer_name)
	Callback function which is called from inside a layer plugin if cost values change. More...

bool	loadLayerPlugins ()
	Loads all configures layer plugins. More...

const std::string &	mapFrame ()
	Returns the map frame / coordinate system id. More...

const lvr2::HalfEdgeMesh< Vector > &	mesh ()
	Returns the stored mesh. More...

bool	meshAhead (Vector &vec, lvr2::FaceHandle &face, const float &step_width)

	MeshMap (tf2_ros::Buffer &tf)

bool	projectedBarycentricCoords (const Vector &p, const lvr2::FaceHandle &triangle, std::array< float, 3 > &barycentric_coords, float &dist)
	Computes the projected barycentric coordinates, it implements Heidrich's method See https://www.researchgate.net/publication/220494112_Computing_the_Barycentric_Coordinates_of_a_Projected_Point. More...

void	publishCombinedVectorField ()
	Publishes the vector field as visualisation_msgs/Marker. More...

void	publishCostLayers ()
	Publishes all layer costs as mesh_msgs/VertexCosts. More...

void	publishDebugFace (const lvr2::FaceHandle &face_handle, const std_msgs::ColorRGBA &color, const std::string &name)
	Publishes a triangle as marker. Used for debug purposes. More...

void	publishDebugPoint (const Vector pos, const std_msgs::ColorRGBA &color, const std::string &name)
	Publishes a position as marker. Used for debug purposes. More...

void	publishVectorField (const std::string &name, const lvr2::DenseVertexMap< lvr2::BaseVector< float >> &vector_map, const bool publish_face_vectors=false)
	Publishes a vector field as visualisation_msgs/Marker. More...

void	publishVectorField (const std::string &name, const lvr2::DenseVertexMap< lvr2::BaseVector< float >> &vector_map, const lvr2::DenseVertexMap< float > &values, const std::function< float(float)> &cost_function={}, const bool publish_face_vectors=false)
	Publishes a vector field as visualisation_msgs/Marker. More...

void	publishVertexColors ()

void	publishVertexCosts (const lvr2::VertexMap< float > &costs, const std::string &name)
	Publishes the given vertex map as mesh_msgs/VertexCosts, e.g. to visualize these. More...

bool	rayTriangleIntersect (const Vector &orig, const Vector &dir, const Vector &v0, const Vector &v1, const Vector &v2, float &t, float &u, float &v, Vector &p)

bool	readMap ()
	Reads in the mesh geometry, normals and cost values and publishes all as mesh_msgs. More...

void	reconfigureCallback (mesh_map::MeshMapConfig &config, uint32_t level)
	reconfigure callback function which is called if a dynamic reconfiguration were triggered. More...

bool	resetLayers ()
	Resets all layers. More...

boost::optional< std::tuple< lvr2::FaceHandle, std::array< mesh_map::Vector, 3 >, std::array< float, 3 > > >	searchContainingFace (Vector &position, const float &max_dist)
	Searches for a triangle which contains the given position with respect to the maximum distance. More...

boost::optional< std::tuple< lvr2::FaceHandle, std::array< Vector, 3 >, std::array< float, 3 > > >	searchNeighbourFaces (const Vector &pos, const lvr2::FaceHandle &face, const float &max_radius, const float &max_dist)

void	setVectorMap (lvr2::DenseVertexMap< mesh_map::Vector > &vector_map)
	Stores the given vector map. More...

const geometry_msgs::Point	toPoint (const Vector &vec)
	Converts a vector to a ROS geometry_msgs/Point message. More...

const lvr2::DenseVertexMap< float > &	vertexCosts ()
	Returns the stored combined costs. More...

const lvr2::DenseVertexMap< Normal > &	vertexNormals ()
	Returns the mesh's vertex normals. More...

Public Attributes
lvr2::DenseVertexMap< bool >	invalid

std::shared_ptr< lvr2::AttributeMeshIOBase >	mesh_io_ptr

std::shared_ptr< lvr2::HalfEdgeMesh< Vector > >	mesh_ptr

Private Types
typedef nanoflann::KDTreeSingleIndexAdaptor< nanoflann::L2_Simple_Adaptor< float, NanoFlannMeshAdaptor >, NanoFlannMeshAdaptor, 3 >	KDTree
	k-d tree type for 3D with a custom mesh adaptor More...

Private Attributes
std::unique_ptr< NanoFlannMeshAdaptor >	adaptor_ptr
	k-d tree nano flann mesh adaptor to access mesh data More...

float	bb_max_x

float	bb_max_y

float	bb_max_z

float	bb_min_x

float	bb_min_y

float	bb_min_z

MeshMapConfig	config
	current mesh map configuration More...

dynamic_reconfigure::Server< mesh_map::MeshMapConfig >::CallbackType	config_callback
	dynamic reconfigure callback function binding More...

lvr2::DenseEdgeMap< float >	edge_distances
	vertex distance for each edge More...

lvr2::DenseEdgeMap< float >	edge_weights
	edge weights More...

lvr2::DenseFaceMap< Normal >	face_normals
	triangle normals More...

bool	first_config
	first reconfigure call More...

std::string	global_frame
	global frame / coordinate system id More...

std::unique_ptr< KDTree >	kd_tree_ptr
	k-d tree to query mesh vertices in logarithmic time More...

pluginlib::ClassLoader< mesh_map::AbstractLayer >	layer_loader
	plugin class loader for for the layer plugins More...

std::mutex	layer_mtx
	layer mutex to handle simultaneous layer changes More...

std::map< std::string, mesh_map::AbstractLayer::Ptr >	layer_names
	mapping from name to layer instance More...

std::vector< std::pair< std::string, mesh_map::AbstractLayer::Ptr > >	layers
	vector of name and layer instances More...

std::map< std::string, std::set< lvr2::VertexHandle > >	lethal_indices
	each layer maps to a set of impassable indices More...

std::set< lvr2::VertexHandle >	lethals
	all impassable vertices More...

bool	map_loaded
	indicates whether the map has been loaded More...

ros::Publisher	marker_pub
	publisher for the debug markers More...

float	max_height_diff

float	max_roughness

std::string	mesh_file

ros::Publisher	mesh_geometry_pub
	publisher for the mesh geometry More...

std::string	mesh_layer

std::string	mesh_part

float	min_height_diff

float	min_roughness

ros::NodeHandle	private_nh
	private node handle within the mesh map namespace More...

boost::shared_ptr< dynamic_reconfigure::Server< mesh_map::MeshMapConfig > >	reconfigure_server_ptr
	shared pointer to dynamic reconfigure server More...

std::string	srv_password
	login password to connect to the server More...

std::string	srv_url
	server url More...

std::string	srv_username
	login username to connect to the server More...

tf2_ros::Buffer &	tf_buffer
	transformation buffer More...

std::string	uuid_str
	uuid for the load mesh map More...

ros::Publisher	vector_field_pub
	publisher for the stored vector field More...

lvr2::DenseVertexMap< mesh_map::Vector >	vector_map
	stored vector map to share between planner and controller More...

ros::Publisher	vertex_colors_pub
	publisher for vertex colors More...

lvr2::DenseVertexMap< float >	vertex_costs
	combined layer costs More...

ros::Publisher	vertex_costs_pub
	publisher for vertex costs More...

lvr2::DenseVertexMap< Normal >	vertex_normals
	vertex normals More...

Detailed Description

Definition at line 60 of file mesh_map.h.

Member Typedef Documentation

◆ KDTree

typedef nanoflann::KDTreeSingleIndexAdaptor< nanoflann::L2_Simple_Adaptor<float, NanoFlannMeshAdaptor>, NanoFlannMeshAdaptor, 3> mesh_map::MeshMap::KDTree

private

k-d tree type for 3D with a custom mesh adaptor

Definition at line 510 of file mesh_map.h.

◆ Ptr

typedef boost::shared_ptr<MeshMap> mesh_map::MeshMap::Ptr

Definition at line 63 of file mesh_map.h.

Constructor & Destructor Documentation

◆ MeshMap()

mesh_map::MeshMap::MeshMap ( tf2_ros::Buffer & tf )

Definition at line 65 of file mesh_map.cpp.

Member Function Documentation

◆ barycentricCoords()

bool mesh_map::MeshMap::barycentricCoords	(	const Vector &	p,
		const lvr2::FaceHandle &	triangle,
		float &	u,
		float &	v,
		float &	w
	)

Computes barycentric coordinates of the given query position and the corresponding triangle

Parameters

p	The query position
triangle	The corresponding triangle
u	The barycentric coordinate if the first vertex
v	The barycentric coordinate if the second vertex
w	The barycentric coordinate if the third vertex

Returns: true if the query position lies inside the triangle

Definition at line 1114 of file mesh_map.cpp.

◆ combineVertexCosts()

void mesh_map::MeshMap::combineVertexCosts ( )

A method which combines all layer costs with the respective weightings.

Definition at line 417 of file mesh_map.cpp.

◆ costAtPosition() [1/2]

float mesh_map::MeshMap::costAtPosition	(	const lvr2::DenseVertexMap< float > &	costs,
		const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const std::array< float, 3 > &	barycentric_coords
	)

Computes the cost value for the given triangle's vertices and barycentric coordinates while using the given cost map

Parameters

costs	The cost map to use
vertices	The triangles vertices
barycentric_coords	The barycentric coordinates of the query position.

Returns: A cost value for the given barycentric coordinates.

Definition at line 633 of file mesh_map.cpp.

◆ costAtPosition() [2/2]

float mesh_map::MeshMap::costAtPosition	(	const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const std::array< float, 3 > &	barycentric_coords
	)

Computes the cost value for the given triangle's vertices and barycentric coordinates while using the combined cost map

Parameters

vertices	The triangles vertices
barycentric_coords	The barycentric coordinates of the query position.

Returns: A cost value for the given barycentric coordinates.

Definition at line 627 of file mesh_map.cpp.

◆ directionAtPosition()

boost::optional< Vector > mesh_map::MeshMap::directionAtPosition	(	const lvr2::VertexMap< lvr2::BaseVector< float >> &	vector_map,
		const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const std::array< float, 3 > &	barycentric_coords
	)

Computes the direction vector for the given triangle's vertices and barycentric coordinates while using the given vector map

Parameters

vector_map	The vector map to use
vertices	The triangles vertices
barycentric_coords	The barycentric coordinates of the query position.

Returns: An optional vector of the computed direction. It is valid if a vector has been computed successfully.

Definition at line 600 of file mesh_map.cpp.

◆ edgeDistances()

const lvr2::DenseEdgeMap<float>& mesh_map::MeshMap::edgeDistances ( )

inline

Returns the mesh's vertex distances.

Definition at line 316 of file mesh_map.h.

◆ edgeWeights()

const lvr2::DenseEdgeMap<float>& mesh_map::MeshMap::edgeWeights ( )

inline

Returns the mesh's edge weights.

Definition at line 308 of file mesh_map.h.

◆ faceNormals()

const lvr2::DenseFaceMap<Normal>& mesh_map::MeshMap::faceNormals ( )

inline

Returns the mesh's triangle normals.

Definition at line 292 of file mesh_map.h.

◆ findContours()

void mesh_map::MeshMap::findContours	(	std::vector< std::vector< lvr2::VertexHandle >> &	contours,
		int	min_contour_size
	)

Computes contours.

Parameters

contours	the vector to bo filled with contours
min_contour_size	The minimum contour size, i.e. the number of vertices per contour.

Definition at line 515 of file mesh_map.cpp.

◆ findLethalByContours()

void mesh_map::MeshMap::findLethalByContours	(	const int &	min_contour_size,
		std::set< lvr2::VertexHandle > &	lethals
	)

Compute all contours and returns the corresponding vertices to use these as lethal vertices.

Parameters

min_contour_size	The minimum contour size, i.e. the number of vertices per contour.
min_contour_size
lethals	the vector which is filled with contour vertices

Definition at line 503 of file mesh_map.cpp.

◆ getContainingFace()

lvr2::OptionalFaceHandle mesh_map::MeshMap::getContainingFace	(	Vector &	position,
		const float &	max_dist
	)

Searches for a triangle which contains the given position with respect to the maximum distance.

Parameters

position	The query position
max_dist	The maximum distance to the triangle

Returns: Optional face handle, the optional is valid if a corresponding triangle has been found.

Definition at line 1029 of file mesh_map.cpp.

◆ getGlobalFrameID()

const std::string mesh_map::MeshMap::getGlobalFrameID ( )

Returns the global frame / coordinate system id string.

Definition at line 1250 of file mesh_map.cpp.

◆ getNearestVertexHandle()

lvr2::OptionalVertexHandle mesh_map::MeshMap::getNearestVertexHandle ( const mesh_map::Vector & pos )

Return and optional vertex handle of to the closest vertex to the given position.

Parameters

pos	the search position

Returns

Definition at line 1082 of file mesh_map.cpp.

◆ getVectorMap()

const lvr2::DenseVertexMap<mesh_map::Vector>& mesh_map::MeshMap::getVectorMap ( )

inline

Returns the stored vector map.

Definition at line 260 of file mesh_map.h.

◆ initLayerPlugins()

bool mesh_map::MeshMap::initLayerPlugins ( )

Initialized all loaded layer plugins.

Returns: true if the loaded layer plugins have been initialized successfully.

Definition at line 384 of file mesh_map.cpp.

◆ inTriangle()

bool mesh_map::MeshMap::inTriangle	(	const Vector &	pos,
		const lvr2::FaceHandle &	face,
		const float &	dist
	)

return true if the given position lies inside the triangle with respect to the given maximum distance.

Parameters

pos	The query position
face	The triangle to check for
dist	The maximum distance to the triangle

Returns: true if the query position is inside the triangle within the maximum distance

Definition at line 911 of file mesh_map.cpp.

◆ isLethal()

bool mesh_map::MeshMap::isLethal ( const lvr2::VertexHandle & vH )

inline

Checks if the given vertex handle corresponds to a lethal / not passable vertex.

◆ layer()

mesh_map::AbstractLayer::Ptr mesh_map::MeshMap::layer ( const std::string & layer_name )

returns a shared pointer to the specified layer

Definition at line 1109 of file mesh_map.cpp.

◆ layerChanged()

void mesh_map::MeshMap::layerChanged ( const std::string & layer_name )

Callback function which is called from inside a layer plugin if cost values change.

Parameters

layer_name the name of the layer.

Definition at line 335 of file mesh_map.cpp.

◆ loadLayerPlugins()

bool mesh_map::MeshMap::loadLayerPlugins ( )

Loads all configures layer plugins.

Returns: true if the layer plugins have been load successfully.

Definition at line 267 of file mesh_map.cpp.

◆ mapFrame()

const std::string& mesh_map::MeshMap::mapFrame ( )

inline

Returns the map frame / coordinate system id.

Definition at line 284 of file mesh_map.h.

◆ mesh()

const lvr2::HalfEdgeMesh<Vector>& mesh_map::MeshMap::mesh ( )

inline

Returns the stored mesh.

Definition at line 268 of file mesh_map.h.

◆ meshAhead()

bool mesh_map::MeshMap::meshAhead	(	mesh_map::Vector &	pos,
		lvr2::FaceHandle &	face,
		const float &	step_width
	)

Finds the next position given a position vector and its corresponding face handle by following the direction For: look ahead when using mesh gradient

Parameters

vec	direction vector from which the next step vector is calculated
face	face of the direction vector
step_width	The step length to go ahead on the mesh surface

Returns: new vector (also updates the ahead_face handle to correspond to the new vector)

Definition at line 989 of file mesh_map.cpp.

◆ projectedBarycentricCoords()

bool mesh_map::MeshMap::projectedBarycentricCoords	(	const Vector &	p,
		const lvr2::FaceHandle &	triangle,
		std::array< float, 3 > &	barycentric_coords,
		float &	dist
	)

Computes the projected barycentric coordinates, it implements Heidrich's method See https://www.researchgate.net/publication/220494112_Computing_the_Barycentric_Coordinates_of_a_Projected_Point.

Parameters

p	the query position
triangle	the corresponding triangle
barycentric_coords	The array will be filled with the barycentric coordinates
dist	The distance if the query position to the triangle

Returns: ture if the query position lies inside the triangle

Definition at line 1102 of file mesh_map.cpp.

◆ publishCombinedVectorField()

void mesh_map::MeshMap::publishCombinedVectorField ( )

Publishes the vector field as visualisation_msgs/Marker.

Definition at line 710 of file mesh_map.cpp.

◆ publishCostLayers()

void mesh_map::MeshMap::publishCostLayers ( )

Publishes all layer costs as mesh_msgs/VertexCosts.

Definition at line 1185 of file mesh_map.cpp.

◆ publishDebugFace()

void mesh_map::MeshMap::publishDebugFace	(	const lvr2::FaceHandle &	face_handle,
		const std_msgs::ColorRGBA &	color,
		const std::string &	name
	)

Publishes a triangle as marker. Used for debug purposes.

Parameters

face_handle	The face handle for the triangle
color	The marker's color
name	The marker's name

Definition at line 673 of file mesh_map.cpp.

◆ publishDebugPoint()

void mesh_map::MeshMap::publishDebugPoint	(	const Vector	pos,
		const std_msgs::ColorRGBA &	color,
		const std::string &	name
	)

Publishes a position as marker. Used for debug purposes.

Parameters

pos	The position to publish as marker
color	The marker's color
name	The marker's name

Definition at line 649 of file mesh_map.cpp.

◆ publishVectorField() [1/2]

void mesh_map::MeshMap::publishVectorField	(	const std::string &	name,
		const lvr2::DenseVertexMap< lvr2::BaseVector< float >> &	vector_map,
		const bool	publish_face_vectors = `false`
	)

Publishes a vector field as visualisation_msgs/Marker.

Parameters

name	The marker's name
vector_map	The vector field to publish
publish_face_vectors	Enables to publish an additional vertex for the triangle's center.

Definition at line 703 of file mesh_map.cpp.

◆ publishVectorField() [2/2]

void mesh_map::MeshMap::publishVectorField	(	const std::string &	name,
		const lvr2::DenseVertexMap< lvr2::BaseVector< float >> &	vector_map,
		const lvr2::DenseVertexMap< float > &	values,
		const std::function< float(float)> &	cost_function = `{}`,
		const bool	publish_face_vectors = `false`
	)

Publishes a vector field as visualisation_msgs/Marker.

Parameters

name	The marker's name
vector_map	The vector field to publish
values	The vertex cost values
cost_function	A cost function to compute costs inside a triangle
publish_face_vectors	Enables to publish an additional vertex for the triangle's center.

Definition at line 758 of file mesh_map.cpp.

◆ publishVertexColors()

void mesh_map::MeshMap::publishVertexColors ( )

@briefP Publishes the vertex colors if these exists.

Definition at line 1202 of file mesh_map.cpp.

◆ publishVertexCosts()

void mesh_map::MeshMap::publishVertexCosts	(	const lvr2::VertexMap< float > &	costs,
		const std::string &	name
	)

Publishes the given vertex map as mesh_msgs/VertexCosts, e.g. to visualize these.

Parameters

costs	The cost map to publish
name	The name of the cost map

Definition at line 1196 of file mesh_map.cpp.

◆ rayTriangleIntersect()

bool mesh_map::MeshMap::rayTriangleIntersect	(	const Vector &	orig,
		const Vector &	dir,
		const Vector &	v0,
		const Vector &	v1,
		const Vector &	v2,
		float &	t,
		float &	u,
		float &	v,
		Vector &	p
	)

Computes the barycentric coordinates of the ray intersection point for the given ray

Parameters

orig	The ray origin
dir	The ray direction
v0	The triangle's first vertex
v1	The triangle's second vertex
v2	The triangle's third vertex
t	The signed distance to the triangle
u	The first barycentric coordinate
v	The second barycentric coordinate
p	The thrid barycentric coordinate

Returns: True if the intersection point lies inside the triangle

Definition at line 1120 of file mesh_map.cpp.

◆ readMap()

bool mesh_map::MeshMap::readMap ( )

Reads in the mesh geometry, normals and cost values and publishes all as mesh_msgs.

Returns: true f the mesh and its attributes have been load successfully.

Definition at line 105 of file mesh_map.cpp.

◆ reconfigureCallback()

void mesh_map::MeshMap::reconfigureCallback	(	mesh_map::MeshMapConfig &	config,
		uint32_t	level
	)

reconfigure callback function which is called if a dynamic reconfiguration were triggered.

Definition at line 1229 of file mesh_map.cpp.

◆ resetLayers()

bool mesh_map::MeshMap::resetLayers ( )

Resets all layers.

Todo:: implement

Returns: true if successfully reset

Definition at line 1180 of file mesh_map.cpp.

◆ searchContainingFace()

boost::optional< std::tuple< lvr2::FaceHandle, std::array< mesh_map::Vector, 3 >, std::array< float, 3 > > > mesh_map::MeshMap::searchContainingFace	(	Vector &	position,
		const float &	max_dist
	)

Searches for a triangle which contains the given position with respect to the maximum distance.

Parameters

position	The query position
max_dist	The maximum distance to the triangle

Returns: optional tuple of the corresponding triangle, the triangle's vertices, and barycentric coordinates, if a corresponding triangle has been found.

Definition at line 1038 of file mesh_map.cpp.

◆ searchNeighbourFaces()

boost::optional< std::tuple< lvr2::FaceHandle, std::array< Vector, 3 >, std::array< float, 3 > > > mesh_map::MeshMap::searchNeighbourFaces	(	const Vector &	pos,
		const lvr2::FaceHandle &	face,
		const float &	max_radius,
		const float &	max_dist
	)

Searches in the surrounding triangles for the triangle in which the given position lies.

Parameters

pose_vec	Vector of the position which searched for
face	Face handle from which search begins
max_radius	The radius in which the controller searches for a consecutive face
max_dist	The maximum distance to the given face vertices

Returns: Optional of (face handle, vertices, and barycentric coord) tuple

Definition at line 919 of file mesh_map.cpp.

◆ setVectorMap()

void mesh_map::MeshMap::setVectorMap ( lvr2::DenseVertexMap< mesh_map::Vector > & vector_map )

Stores the given vector map.

Definition at line 595 of file mesh_map.cpp.

◆ toPoint()

const geometry_msgs::Point mesh_map::MeshMap::toPoint ( const Vector & vec )

inline

Converts a vector to a ROS geometry_msgs/Point message.

Definition at line 1091 of file mesh_map.cpp.

◆ vertexCosts()

const lvr2::DenseVertexMap<float>& mesh_map::MeshMap::vertexCosts ( )

inline

Returns the stored combined costs.

Definition at line 276 of file mesh_map.h.

◆ vertexNormals()

const lvr2::DenseVertexMap<Normal>& mesh_map::MeshMap::vertexNormals ( )

inline

Returns the mesh's vertex normals.

Definition at line 300 of file mesh_map.h.

Member Data Documentation

◆ adaptor_ptr

std::unique_ptr<NanoFlannMeshAdaptor> mesh_map::MeshMap::adaptor_ptr

private

k-d tree nano flann mesh adaptor to access mesh data

Definition at line 513 of file mesh_map.h.

◆ bb_max_x

float mesh_map::MeshMap::bb_max_x

private

Definition at line 440 of file mesh_map.h.

◆ bb_max_y

float mesh_map::MeshMap::bb_max_y

private

Definition at line 441 of file mesh_map.h.

◆ bb_max_z

float mesh_map::MeshMap::bb_max_z

private

Definition at line 442 of file mesh_map.h.

◆ bb_min_x

float mesh_map::MeshMap::bb_min_x

private

Definition at line 437 of file mesh_map.h.

◆ bb_min_y

float mesh_map::MeshMap::bb_min_y

private

Definition at line 438 of file mesh_map.h.

◆ bb_min_z

float mesh_map::MeshMap::bb_min_z

private

Definition at line 439 of file mesh_map.h.

◆ config

MeshMapConfig mesh_map::MeshMap::config

private

current mesh map configuration

Definition at line 493 of file mesh_map.h.

◆ config_callback

dynamic_reconfigure::Server<mesh_map::MeshMapConfig>::CallbackType mesh_map::MeshMap::config_callback

private

dynamic reconfigure callback function binding

Definition at line 484 of file mesh_map.h.

◆ edge_distances

lvr2::DenseEdgeMap<float> mesh_map::MeshMap::edge_distances

private

vertex distance for each edge

Definition at line 454 of file mesh_map.h.

◆ edge_weights

lvr2::DenseEdgeMap<float> mesh_map::MeshMap::edge_weights

private

edge weights

Definition at line 457 of file mesh_map.h.

◆ face_normals

lvr2::DenseFaceMap<Normal> mesh_map::MeshMap::face_normals

private

triangle normals

Definition at line 460 of file mesh_map.h.

◆ first_config

bool mesh_map::MeshMap::first_config

private

first reconfigure call

Definition at line 487 of file mesh_map.h.

◆ global_frame

std::string mesh_map::MeshMap::global_frame

private

global frame / coordinate system id

Definition at line 420 of file mesh_map.h.

◆ invalid

lvr2::DenseVertexMap<bool> mesh_map::MeshMap::invalid

Definition at line 401 of file mesh_map.h.

◆ kd_tree_ptr

std::unique_ptr<KDTree> mesh_map::MeshMap::kd_tree_ptr

private

k-d tree to query mesh vertices in logarithmic time

Definition at line 516 of file mesh_map.h.

◆ layer_loader

pluginlib::ClassLoader<mesh_map::AbstractLayer> mesh_map::MeshMap::layer_loader

private

plugin class loader for for the layer plugins

Definition at line 405 of file mesh_map.h.

◆ layer_mtx

std::mutex mesh_map::MeshMap::layer_mtx

private

layer mutex to handle simultaneous layer changes

Definition at line 505 of file mesh_map.h.

◆ layer_names

std::map<std::string, mesh_map::AbstractLayer::Ptr> mesh_map::MeshMap::layer_names

private

mapping from name to layer instance

Definition at line 408 of file mesh_map.h.

◆ layers

std::vector<std::pair<std::string, mesh_map::AbstractLayer::Ptr> > mesh_map::MeshMap::layers

private

vector of name and layer instances

Definition at line 411 of file mesh_map.h.

◆ lethal_indices

std::map<std::string, std::set<lvr2::VertexHandle> > mesh_map::MeshMap::lethal_indices

private

each layer maps to a set of impassable indices

Definition at line 414 of file mesh_map.h.

◆ lethals

std::set<lvr2::VertexHandle> mesh_map::MeshMap::lethals

private

all impassable vertices

Definition at line 417 of file mesh_map.h.

◆ map_loaded

bool mesh_map::MeshMap::map_loaded

private

indicates whether the map has been loaded

Definition at line 490 of file mesh_map.h.

◆ marker_pub

ros::Publisher mesh_map::MeshMap::marker_pub

private

publisher for the debug markers

Definition at line 475 of file mesh_map.h.

◆ max_height_diff

float mesh_map::MeshMap::max_height_diff

private

Definition at line 436 of file mesh_map.h.

◆ max_roughness

float mesh_map::MeshMap::max_roughness

private

Definition at line 434 of file mesh_map.h.

◆ mesh_file

std::string mesh_map::MeshMap::mesh_file

private

Definition at line 444 of file mesh_map.h.

◆ mesh_geometry_pub

ros::Publisher mesh_map::MeshMap::mesh_geometry_pub

private

publisher for the mesh geometry

Definition at line 472 of file mesh_map.h.

◆ mesh_io_ptr

std::shared_ptr<lvr2::AttributeMeshIOBase> mesh_map::MeshMap::mesh_io_ptr

Definition at line 398 of file mesh_map.h.

◆ mesh_layer

std::string mesh_map::MeshMap::mesh_layer

private

Definition at line 431 of file mesh_map.h.

◆ mesh_part

std::string mesh_map::MeshMap::mesh_part

private

Definition at line 445 of file mesh_map.h.

◆ mesh_ptr

std::shared_ptr<lvr2::HalfEdgeMesh<Vector> > mesh_map::MeshMap::mesh_ptr

Definition at line 399 of file mesh_map.h.

◆ min_height_diff

float mesh_map::MeshMap::min_height_diff

private

Definition at line 435 of file mesh_map.h.

◆ min_roughness

float mesh_map::MeshMap::min_roughness

private

Definition at line 433 of file mesh_map.h.

◆ private_nh

ros::NodeHandle mesh_map::MeshMap::private_nh

private

private node handle within the mesh map namespace

Definition at line 496 of file mesh_map.h.

◆ reconfigure_server_ptr

boost::shared_ptr<dynamic_reconfigure::Server<mesh_map::MeshMapConfig> > mesh_map::MeshMap::reconfigure_server_ptr

private

shared pointer to dynamic reconfigure server

Definition at line 481 of file mesh_map.h.

◆ srv_password

std::string mesh_map::MeshMap::srv_password

private

login password to connect to the server

Definition at line 429 of file mesh_map.h.

◆ srv_url

std::string mesh_map::MeshMap::srv_url

private

server url

Definition at line 423 of file mesh_map.h.

◆ srv_username

std::string mesh_map::MeshMap::srv_username

private

login username to connect to the server

Definition at line 426 of file mesh_map.h.

◆ tf_buffer

tf2_ros::Buffer& mesh_map::MeshMap::tf_buffer

private

transformation buffer

Definition at line 499 of file mesh_map.h.

◆ uuid_str

std::string mesh_map::MeshMap::uuid_str

private

uuid for the load mesh map

Definition at line 502 of file mesh_map.h.

◆ vector_field_pub

ros::Publisher mesh_map::MeshMap::vector_field_pub

private

publisher for the stored vector field

Definition at line 478 of file mesh_map.h.

◆ vector_map

lvr2::DenseVertexMap<mesh_map::Vector> mesh_map::MeshMap::vector_map

private

stored vector map to share between planner and controller

Definition at line 451 of file mesh_map.h.

◆ vertex_colors_pub

ros::Publisher mesh_map::MeshMap::vertex_colors_pub

private

publisher for vertex colors

Definition at line 469 of file mesh_map.h.

◆ vertex_costs

lvr2::DenseVertexMap<float> mesh_map::MeshMap::vertex_costs

private

combined layer costs

Definition at line 448 of file mesh_map.h.

◆ vertex_costs_pub

ros::Publisher mesh_map::MeshMap::vertex_costs_pub

private

publisher for vertex costs

Definition at line 466 of file mesh_map.h.

◆ vertex_normals

lvr2::DenseVertexMap<Normal> mesh_map::MeshMap::vertex_normals

private

vertex normals

Definition at line 463 of file mesh_map.h.

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

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ KDTree

◆ Ptr

Constructor & Destructor Documentation

◆ MeshMap()

Member Function Documentation

◆ barycentricCoords()

◆ combineVertexCosts()

◆ costAtPosition() [1/2]

◆ costAtPosition() [2/2]

◆ directionAtPosition()

◆ edgeDistances()

◆ edgeWeights()

◆ faceNormals()

◆ findContours()

◆ findLethalByContours()

◆ getContainingFace()

◆ getGlobalFrameID()

◆ getNearestVertexHandle()

◆ getVectorMap()

◆ initLayerPlugins()

◆ inTriangle()

◆ isLethal()

◆ layer()

◆ layerChanged()

◆ loadLayerPlugins()

◆ mapFrame()

◆ mesh()

◆ meshAhead()

◆ projectedBarycentricCoords()

◆ publishCombinedVectorField()

◆ publishCostLayers()

◆ publishDebugFace()

◆ publishDebugPoint()

◆ publishVectorField() [1/2]

◆ publishVectorField() [2/2]

◆ publishVertexColors()

◆ publishVertexCosts()

◆ rayTriangleIntersect()

◆ readMap()

◆ reconfigureCallback()

◆ resetLayers()

◆ searchContainingFace()

◆ searchNeighbourFaces()

◆ setVectorMap()

◆ toPoint()

◆ vertexCosts()

◆ vertexNormals()

Member Data Documentation

◆ adaptor_ptr

◆ bb_max_x

◆ bb_max_y

◆ bb_max_z

◆ bb_min_x

◆ bb_min_y

◆ bb_min_z

◆ config

◆ config_callback

◆ edge_distances

◆ edge_weights

◆ face_normals

◆ first_config

◆ global_frame

◆ invalid

◆ kd_tree_ptr

◆ layer_loader

◆ layer_mtx

◆ layer_names

◆ layers

◆ lethal_indices

◆ lethals

◆ map_loaded

◆ marker_pub

◆ max_height_diff