robot_self_filter Namespace Reference

Namespaces
	bodies
	shapes

Classes
struct	LinkInfo
class	SelfFilter
class	SelfMask
	Computing a mask for a pointcloud that states which points are inside the robot. More...

Enumerations
enum	{ INSIDE = 0, OUTSIDE = 1, SHADOW = 2 }
	The possible values of a mask computed for a point. More...

Functions
static shapes::Shape *	constructShape (const urdf::Geometry *geom)
static tf::Transform	urdfPose2TFTransform (const urdf::Pose &pose)

Detailed Description

Author

Ioan Sucan This set of classes allows quickly detecting whether a given point is inside an object or not. Only basic (simple) types of objects are supported: spheres, cylinders, boxes. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).

Ioan Sucan Definition of various shapes. No properties such as position are included. These are simply the descriptions and dimensions of shapes.

Ioan Sucan

Enumeration Type Documentation

anonymous enum

The possible values of a mask computed for a point.

Enumerator
INSIDE
OUTSIDE
SHADOW

Definition at line 50 of file self_mask.h.

Function Documentation

static shapes::Shape* robot_self_filter::constructShape ( const urdf::Geometry *  geom )

static

Definition at line 70 of file self_mask.h.

static tf::Transform robot_self_filter::urdfPose2TFTransform ( const urdf::Pose &  pose )

inlinestatic

Definition at line 64 of file self_mask.h.