Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...

#include <hfield.h>

Inheritance diagram for hpp::fcl::HeightField< BV >:

Public Types
typedef CollisionGeometry	Base

typedef std::vector< Node >	BVS

typedef HFNode< BV >	Node

Public Member Functions
virtual HeightField< BV > *	clone () const
	Clone *this into a new CollisionGeometry. More...

void	computeLocalAABB ()
	Compute the AABB for the HeightField, used for broad-phase collision. More...

const HFNode< BV > &	getBV (unsigned int i) const
	Access the bv giving the its index. More...

HFNode< BV > &	getBV (unsigned int i)
	Access the bv giving the its index. More...

const MatrixXf &	getHeights () const
	Returns a const reference of the heights. More...

FCL_REAL	getMaxHeight () const
	Returns the maximal height value of the Height Field. More...

FCL_REAL	getMinHeight () const
	Returns the minimal height value of the Height Field. More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	Get the BV type: default is unknown. More...

template<>
NODE_TYPE	getNodeType () const
	Specialization of getNodeType() for HeightField with different BV types. More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

FCL_REAL	getXDim () const
	Returns the dimension of the Height Field along the X direction. More...

const VecXf &	getXGrid () const
	Returns a const reference of the grid along the X direction. More...

FCL_REAL	getYDim () const
	Returns the dimension of the Height Field along the Y direction. More...

const VecXf &	getYGrid () const
	Returns a const reference of the grid along the Y direction. More...

	HeightField ()
	Constructing an empty HeightField. More...

	HeightField (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height=(FCL_REAL) 0)
	Constructing an HeightField from its base dimensions and the set of heights points. The granularity of the height field along X and Y direction is extraded from the Z grid. More...

	HeightField (const HeightField &other)
	Copy contructor from another HeightField. More...

void	updateHeights (const MatrixXf &new_heights)
	Update Height Field height. More...

virtual	~HeightField ()
	deconstruction, delete mesh data related. More...

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor. More...

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

void *	getUserData () const
	get user data in geometry More...

bool	isFree () const
	whether the object is completely free More...

bool	isOccupied () const
	whether the object is completely occupied More...

bool	isUncertain () const
	whether the object has some uncertainty More...

bool	operator!= (const CollisionGeometry &other) const
	Difference operator. More...

bool	operator== (const CollisionGeometry &other) const
	Equality operator. More...

void	setUserData (void *data)
	set user data in geometry More...

virtual	~CollisionGeometry ()

Protected Member Functions
int	buildTree ()
	Build the bounding volume hierarchy. More...

Vec3f	computeCOM () const
	compute center of mass More...

Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

FCL_REAL	computeVolume () const
	compute the volume More...

OBJECT_TYPE	getObjectType () const
	Get the object type: it is a HFIELD. More...

void	init (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height)

FCL_REAL	recursiveBuildTree (const size_t bv_id, const Eigen::DenseIndex x_id, const Eigen::DenseIndex x_size, const Eigen::DenseIndex y_id, const Eigen::DenseIndex y_size)

FCL_REAL	recursiveUpdateHeight (const size_t bv_id)

Protected Attributes
BVS	bvs
	Bounding volume hierarchy. More...

MatrixXf	heights
	Elevation values in meters of the Height Field. More...

FCL_REAL	max_height

FCL_REAL	min_height
	Minimal height of the Height Field: all values bellow min_height will be discarded. More...

unsigned int	num_bvs

FCL_REAL	x_dim
	Dimensions in meters along X and Y directions. More...

VecXf	x_grid
	Grids along the X and Y directions. Useful for plotting or other related things. More...

FCL_REAL	y_dim

VecXf	y_grid

Private Member Functions
virtual bool	isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

Additional Inherited Members
Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

FCL_REAL	aabb_radius
	AABB radius. More...

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

void *	user_data
	pointer to user defined data specific to this object More...

Detailed Description

template<typename BV>
class hpp::fcl::HeightField< BV >

Data structure depicting a height field given by the base grid dimensions and the elevation along the grid.

Template Parameters

BV	one of the bounding volume class in Bounding volumes.

An height field is defined by its base dimensions along the X and Y axes and a set ofpoints defined by their altitude, regularly dispatched on the grid. The height field is centered at the origin and the corners of the geometry correspond to the following coordinates [± x_dim/2; ± y_dim/2].

Definition at line 182 of file hfield.h.

Member Typedef Documentation

◆ Base

template<typename BV>

typedef CollisionGeometry hpp::fcl::HeightField< BV >::Base

Definition at line 184 of file hfield.h.

◆ BVS

template<typename BV>

typedef std::vector<Node> hpp::fcl::HeightField< BV >::BVS

Definition at line 187 of file hfield.h.

◆ Node

template<typename BV>

typedef HFNode<BV> hpp::fcl::HeightField< BV >::Node

Definition at line 186 of file hfield.h.

Constructor & Destructor Documentation

◆ HeightField() [1/3]

template<typename BV>

hpp::fcl::HeightField< BV >::HeightField ( )

inline

Constructing an empty HeightField.

Definition at line 190 of file hfield.h.

◆ HeightField() [2/3]

template<typename BV>

hpp::fcl::HeightField< BV >::HeightField	(	const FCL_REAL	x_dim,
		const FCL_REAL	y_dim,
		const MatrixXf &	heights,
		const FCL_REAL	min_height = `(FCL_REAL)0`
	)

inline

Constructing an HeightField from its base dimensions and the set of heights points. The granularity of the height field along X and Y direction is extraded from the Z grid.

Parameters

[in]	x_dim	Dimension along the X axis
[in]	y_dim	Dimension along the Y axis
[in]	heights	Matrix containing the altitude of each point compositng the height field
[in]	min_height	Minimal height of the height field

Definition at line 206 of file hfield.h.

◆ HeightField() [3/3]

template<typename BV>

hpp::fcl::HeightField< BV >::HeightField ( const HeightField< BV > & other )

inline

Copy contructor from another HeightField.

Parameters

[in] other to copy.

Definition at line 216 of file hfield.h.

◆ ~HeightField()

template<typename BV>

virtual hpp::fcl::HeightField< BV >::~HeightField ( )

inlinevirtual

deconstruction, delete mesh data related.

Definition at line 249 of file hfield.h.

Member Function Documentation

◆ buildTree()

template<typename BV>

int hpp::fcl::HeightField< BV >::buildTree ( )

inlineprotected

Build the bounding volume hierarchy.

Definition at line 337 of file hfield.h.

◆ clone()

template<typename BV>

virtual HeightField<BV>* hpp::fcl::HeightField< BV >::clone ( ) const

inlinevirtual

Clone *this into a new CollisionGeometry.

Implements hpp::fcl::CollisionGeometry.

Definition at line 246 of file hfield.h.

◆ computeCOM()

template<typename BV>

Vec3f hpp::fcl::HeightField< BV >::computeCOM ( ) const

inlineprotectedvirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 311 of file hfield.h.

◆ computeLocalAABB()

template<typename BV>

void hpp::fcl::HeightField< BV >::computeLocalAABB ( )

inlinevirtual

Compute the AABB for the HeightField, used for broad-phase collision.

Implements hpp::fcl::CollisionGeometry.

Definition at line 253 of file hfield.h.

◆ computeMomentofInertia()

template<typename BV>

Matrix3f hpp::fcl::HeightField< BV >::computeMomentofInertia ( ) const

inlineprotectedvirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 315 of file hfield.h.

◆ computeVolume()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::computeVolume ( ) const

inlineprotectedvirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 313 of file hfield.h.

◆ getBV() [1/2]

template<typename BV>

const HFNode<BV>& hpp::fcl::HeightField< BV >::getBV ( unsigned int i ) const

inline

Access the bv giving the its index.

Definition at line 440 of file hfield.h.

◆ getBV() [2/2]

template<typename BV>

HFNode<BV>& hpp::fcl::HeightField< BV >::getBV ( unsigned int i )

inline

Access the bv giving the its index.

Definition at line 447 of file hfield.h.

◆ getHeights()

template<typename BV>

const MatrixXf& hpp::fcl::HeightField< BV >::getHeights ( ) const

inline

Returns a const reference of the heights.

Definition at line 234 of file hfield.h.

◆ getMaxHeight()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::getMaxHeight ( ) const

inline

Returns the maximal height value of the Height Field.

Definition at line 244 of file hfield.h.

◆ getMinHeight()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::getMinHeight ( ) const

inline

Returns the minimal height value of the Height Field.

Definition at line 242 of file hfield.h.

◆ getNodeType() [1/17]

template<>

NODE_TYPE hpp::fcl::HeightField< AABB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 52 of file hfield.cpp.

◆ getNodeType() [2/17]

template<>

NODE_TYPE hpp::fcl::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 57 of file hfield.cpp.

◆ getNodeType() [3/17]

template<>

NODE_TYPE hpp::fcl::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 62 of file hfield.cpp.

◆ getNodeType() [4/17]

template<>

NODE_TYPE hpp::fcl::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 67 of file hfield.cpp.

◆ getNodeType() [5/17]

template<>

NODE_TYPE hpp::fcl::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 72 of file hfield.cpp.

◆ getNodeType() [6/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 77 of file hfield.cpp.

◆ getNodeType() [7/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 82 of file hfield.cpp.

◆ getNodeType() [8/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 87 of file hfield.cpp.

◆ getNodeType() [9/17]

template<typename BV>

NODE_TYPE hpp::fcl::HeightField< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 454 of file hfield.h.

◆ getNodeType() [10/17]

template<>

NODE_TYPE hpp::fcl::HeightField< AABB >::getNodeType ( ) const

virtual

Specialization of getNodeType() for HeightField with different BV types.

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [11/17]

template<>

NODE_TYPE hpp::fcl::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [12/17]

template<>

NODE_TYPE hpp::fcl::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [13/17]

template<>

NODE_TYPE hpp::fcl::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [14/17]

template<>

NODE_TYPE hpp::fcl::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [15/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [16/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [17/17]

template<>

NODE_TYPE hpp::fcl::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getObjectType()

template<typename BV>

OBJECT_TYPE hpp::fcl::HeightField< BV >::getObjectType ( ) const

inlineprotectedvirtual

Get the object type: it is a HFIELD.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 309 of file hfield.h.

◆ getXDim()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::getXDim ( ) const

inline

Returns the dimension of the Height Field along the X direction.

Definition at line 237 of file hfield.h.

◆ getXGrid()

template<typename BV>

const VecXf& hpp::fcl::HeightField< BV >::getXGrid ( ) const

inline

Returns a const reference of the grid along the X direction.

Definition at line 229 of file hfield.h.

◆ getYDim()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::getYDim ( ) const

inline

Returns the dimension of the Height Field along the Y direction.

Definition at line 239 of file hfield.h.

◆ getYGrid()

template<typename BV>

const VecXf& hpp::fcl::HeightField< BV >::getYGrid ( ) const

inline

Returns a const reference of the grid along the Y direction.

Definition at line 231 of file hfield.h.

◆ init()

template<typename BV>

void hpp::fcl::HeightField< BV >::init	(	const FCL_REAL	x_dim,
		const FCL_REAL	y_dim,
		const MatrixXf &	heights,
		const FCL_REAL	min_height
	)

inlineprotected

Definition at line 283 of file hfield.h.

◆ isEqual()

template<typename BV>

virtual bool hpp::fcl::HeightField< BV >::isEqual ( const CollisionGeometry & other ) const

inlineprivatevirtual

equal operator with another object of derived type.

Implements hpp::fcl::CollisionGeometry.

Definition at line 457 of file hfield.h.

◆ recursiveBuildTree()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::recursiveBuildTree	(	const size_t	bv_id,
		const Eigen::DenseIndex	x_id,
		const Eigen::DenseIndex	x_size,
		const Eigen::DenseIndex	y_id,
		const Eigen::DenseIndex	y_size
	)

inlineprotected

Definition at line 374 of file hfield.h.

◆ recursiveUpdateHeight()

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::recursiveUpdateHeight ( const size_t bv_id )

inlineprotected

Definition at line 349 of file hfield.h.

◆ updateHeights()

template<typename BV>

void hpp::fcl::HeightField< BV >::updateHeights ( const MatrixXf & new_heights )

inline

Update Height Field height.

Definition at line 265 of file hfield.h.

Member Data Documentation

◆ bvs

template<typename BV>

BVS hpp::fcl::HeightField< BV >::bvs

protected

Bounding volume hierarchy.

Definition at line 333 of file hfield.h.

◆ heights

template<typename BV>

MatrixXf hpp::fcl::HeightField< BV >::heights

protected

Elevation values in meters of the Height Field.

Definition at line 322 of file hfield.h.

◆ max_height

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::max_height

protected

Definition at line 326 of file hfield.h.

◆ min_height

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::min_height

protected

Minimal height of the Height Field: all values bellow min_height will be discarded.

Definition at line 326 of file hfield.h.

◆ num_bvs

template<typename BV>

unsigned int hpp::fcl::HeightField< BV >::num_bvs

protected

Definition at line 334 of file hfield.h.

◆ x_dim

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::x_dim

protected

Dimensions in meters along X and Y directions.

Definition at line 319 of file hfield.h.

◆ x_grid

template<typename BV>

VecXf hpp::fcl::HeightField< BV >::x_grid

protected

Grids along the X and Y directions. Useful for plotting or other related things.

Definition at line 330 of file hfield.h.

◆ y_dim

template<typename BV>

FCL_REAL hpp::fcl::HeightField< BV >::y_dim

protected

Definition at line 319 of file hfield.h.

◆ y_grid

template<typename BV>

VecXf hpp::fcl::HeightField< BV >::y_grid

protected

Definition at line 330 of file hfield.h.

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

hfield.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

template<typename BV> class hpp::fcl::HeightField< BV >

Member Typedef Documentation

◆ Base

◆ BVS

◆ Node

Constructor & Destructor Documentation

◆ HeightField() [1/3]

◆ HeightField() [2/3]

◆ HeightField() [3/3]

◆ ~HeightField()

Member Function Documentation

◆ buildTree()

◆ clone()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ getBV() [1/2]

◆ getBV() [2/2]

◆ getHeights()

◆ getMaxHeight()

◆ getMinHeight()

◆ getNodeType() [1/17]

◆ getNodeType() [2/17]

◆ getNodeType() [3/17]

◆ getNodeType() [4/17]

◆ getNodeType() [5/17]

◆ getNodeType() [6/17]

◆ getNodeType() [7/17]

◆ getNodeType() [8/17]

◆ getNodeType() [9/17]

◆ getNodeType() [10/17]

◆ getNodeType() [11/17]

◆ getNodeType() [12/17]

◆ getNodeType() [13/17]

◆ getNodeType() [14/17]

◆ getNodeType() [15/17]

◆ getNodeType() [16/17]

◆ getNodeType() [17/17]

◆ getObjectType()

◆ getXDim()

◆ getXGrid()

◆ getYDim()

◆ getYGrid()

◆ init()

◆ isEqual()

◆ recursiveBuildTree()

◆ recursiveUpdateHeight()

◆ updateHeights()

Member Data Documentation

◆ bvs

◆ heights

◆ max_height

◆ min_height

◆ num_bvs

◆ x_dim

◆ x_grid

◆ y_dim

◆ y_grid

template<typename BV>
class hpp::fcl::HeightField< BV >