ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array. More...

#include <ann_grid.h>

Public Types
typedef cv::Point	Index

typedef std::vector< Index >	IndexArray

typedef boost::shared_ptr< ANNGrid >	Ptr

Public Member Functions
	ANNGrid (const double grid_size)

virtual void	approximateSearch (const Eigen::Vector3f &v, pcl::PointIndices &indices)

virtual void	approximateSearchInBox (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3, pcl::PointIndices &indices)

virtual IndexArray	box (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)

virtual IndexArray	bresenham (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1)

virtual void	build (const pcl::PointCloud< pcl::PointNormal > &cloud)

virtual IndexArray	fill (const IndexArray &filled)

virtual IndexArray	fillByBox (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)

ANNGridCell::Ptr	getCell (size_t i, size_t j)

virtual Index	pointToIndex (const pcl::PointNormal &p) const

virtual Index	pointToIndex (const Eigen::Vector3f &p) const

virtual void	toImage (cv::Mat &mat)

virtual void	toImage (cv::Mat &mat, const IndexArray &pixels)

virtual	~ANNGrid ()

Protected Attributes
std::vector< std::vector< ANNGridCell::Ptr > >	cells_

const double	grid_size_

cv::Mat	mat_

Eigen::Vector3f	min_point_

Detailed Description

ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array.

Definition at line 93 of file ann_grid.h.

Member Typedef Documentation

◆ Index

typedef cv::Point jsk_footstep_planner::ANNGrid::Index

Definition at line 97 of file ann_grid.h.

◆ IndexArray

typedef std::vector<Index> jsk_footstep_planner::ANNGrid::IndexArray

Definition at line 98 of file ann_grid.h.

◆ Ptr

typedef boost::shared_ptr<ANNGrid> jsk_footstep_planner::ANNGrid::Ptr

Definition at line 96 of file ann_grid.h.

Constructor & Destructor Documentation

◆ ANNGrid()

jsk_footstep_planner::ANNGrid::ANNGrid ( const double grid_size )

inline

Definition at line 99 of file ann_grid.h.

◆ ~ANNGrid()

virtual jsk_footstep_planner::ANNGrid::~ANNGrid ( )

inlinevirtual

Definition at line 100 of file ann_grid.h.

Member Function Documentation

◆ approximateSearch()

void jsk_footstep_planner::ANNGrid::approximateSearch	(	const Eigen::Vector3f &	v,
		pcl::PointIndices &	indices
	)

virtual

Definition at line 94 of file ann_grid.cpp.

◆ approximateSearchInBox()

void jsk_footstep_planner::ANNGrid::approximateSearchInBox	(	const Eigen::Vector3f &	p0,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3,
		pcl::PointIndices &	indices
	)

virtual

Definition at line 77 of file ann_grid.cpp.

◆ box()

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::box	(	const Eigen::Vector3f &	p0,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3
	)

virtual

Definition at line 186 of file ann_grid.cpp.

◆ bresenham()

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::bresenham	(	const Eigen::Vector3f &	p0,
		const Eigen::Vector3f &	p1
	)

virtual

Definition at line 101 of file ann_grid.cpp.

◆ build()

void jsk_footstep_planner::ANNGrid::build ( const pcl::PointCloud< pcl::PointNormal > & cloud )

virtual

Definition at line 43 of file ann_grid.cpp.

◆ fill()

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::fill ( const IndexArray & filled )

virtual

Definition at line 161 of file ann_grid.cpp.

◆ fillByBox()

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::fillByBox	(	const Eigen::Vector3f &	p0,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3
	)

virtual

Definition at line 145 of file ann_grid.cpp.

◆ getCell()

ANNGridCell::Ptr jsk_footstep_planner::ANNGrid::getCell	(	size_t	i,
		size_t	j
	)

inline

Definition at line 123 of file ann_grid.h.

◆ pointToIndex() [1/2]

virtual Index jsk_footstep_planner::ANNGrid::pointToIndex ( const pcl::PointNormal & p ) const

inlinevirtual

Definition at line 106 of file ann_grid.h.

◆ pointToIndex() [2/2]

virtual Index jsk_footstep_planner::ANNGrid::pointToIndex ( const Eigen::Vector3f & p ) const

inlinevirtual

Definition at line 115 of file ann_grid.h.

◆ toImage() [1/2]

void jsk_footstep_planner::ANNGrid::toImage ( cv::Mat & mat )

virtual

Definition at line 209 of file ann_grid.cpp.

◆ toImage() [2/2]

void jsk_footstep_planner::ANNGrid::toImage	(	cv::Mat &	mat,
		const IndexArray &	pixels
	)

virtual

Definition at line 214 of file ann_grid.cpp.

Member Data Documentation

◆ cells_

std::vector<std::vector<ANNGridCell::Ptr> > jsk_footstep_planner::ANNGrid::cells_

protected

Definition at line 158 of file ann_grid.h.

◆ grid_size_

const double jsk_footstep_planner::ANNGrid::grid_size_

protected

Definition at line 157 of file ann_grid.h.

◆ mat_

cv::Mat jsk_footstep_planner::ANNGrid::mat_

protected

Definition at line 159 of file ann_grid.h.

◆ min_point_

Eigen::Vector3f jsk_footstep_planner::ANNGrid::min_point_

protected

Definition at line 160 of file ann_grid.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Index

◆ IndexArray

◆ Ptr

Constructor & Destructor Documentation

◆ ANNGrid()

◆ ~ANNGrid()

Member Function Documentation

◆ approximateSearch()

◆ approximateSearchInBox()

◆ box()

◆ bresenham()

◆ build()

◆ fill()

◆ fillByBox()

◆ getCell()

◆ pointToIndex() [1/2]

◆ pointToIndex() [2/2]

◆ toImage() [1/2]

◆ toImage() [2/2]

Member Data Documentation

◆ cells_

◆ grid_size_

◆ mat_

◆ min_point_