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 coal::HeightField< BV >:

Public Types
typedef std::vector< Node, Eigen::aligned_allocator< 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...

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

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

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

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

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

const BVS &	getNodes () const

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

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

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

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

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

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

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

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

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

	HeightField (const CoalScalar x_dim, const CoalScalar y_dim, const MatrixXs &heights, const CoalScalar min_height=(CoalScalar) 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 MatrixXs &new_heights)
	Update Height Field height. More...

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

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

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

virtual Matrix3s	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 ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CollisionGeometry	Base

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate. More...

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

CoalScalar	aabb_radius
	AABB radius. More...

CoalScalar	cost_density
	collision cost for unit volume More...

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

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

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

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

Vec3s	computeCOM () const
	compute center of mass More...

Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

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

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

void	init (const CoalScalar x_dim, const CoalScalar y_dim, const MatrixXs &heights, const CoalScalar min_height)

CoalScalar	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)

CoalScalar	recursiveUpdateHeight (const size_t bv_id)

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

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

CoalScalar	max_height

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

unsigned int	num_bvs

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

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

CoalScalar	y_dim

VecXs	y_grid

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

Detailed Description

template<typename BV>
class coal::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 202 of file coal/hfield.h.

Member Typedef Documentation

◆ BVS

template<typename BV >

typedef std::vector<Node, Eigen::aligned_allocator<Node> > coal::HeightField< BV >::BVS

Definition at line 209 of file coal/hfield.h.

◆ Node

template<typename BV >

typedef HFNode<BV> coal::HeightField< BV >::Node

Definition at line 208 of file coal/hfield.h.

Constructor & Destructor Documentation

◆ HeightField() [1/3]

template<typename BV >

coal::HeightField< BV >::HeightField ( )

inline

Constructing an empty HeightField.

Definition at line 212 of file coal/hfield.h.

◆ HeightField() [2/3]

template<typename BV >

coal::HeightField< BV >::HeightField	(	const CoalScalar	x_dim,
		const CoalScalar	y_dim,
		const MatrixXs &	heights,
		const CoalScalar	min_height = `(CoalScalar)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 228 of file coal/hfield.h.

◆ HeightField() [3/3]

template<typename BV >

coal::HeightField< BV >::HeightField ( const HeightField< BV > & other )

inline

Copy contructor from another HeightField.

Parameters

[in] other to copy.

Definition at line 239 of file coal/hfield.h.

◆ ~HeightField()

template<typename BV >

virtual coal::HeightField< BV >::~HeightField ( )

inlinevirtual

deconstruction, delete mesh data related.

Definition at line 274 of file coal/hfield.h.

Member Function Documentation

◆ buildTree()

template<typename BV >

int coal::HeightField< BV >::buildTree ( )

inlineprotected

Build the bounding volume hierarchy.

Definition at line 362 of file coal/hfield.h.

◆ clone()

template<typename BV >

virtual HeightField<BV>* coal::HeightField< BV >::clone ( ) const

inlinevirtual

Clone *this into a new CollisionGeometry.

Implements coal::CollisionGeometry.

Definition at line 269 of file coal/hfield.h.

◆ computeCOM()

template<typename BV >

Vec3s coal::HeightField< BV >::computeCOM ( ) const

inlineprotectedvirtual

compute center of mass

Reimplemented from coal::CollisionGeometry.

Definition at line 336 of file coal/hfield.h.

◆ computeLocalAABB()

template<typename BV >

void coal::HeightField< BV >::computeLocalAABB ( )

inlinevirtual

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

Implements coal::CollisionGeometry.

Definition at line 278 of file coal/hfield.h.

◆ computeMomentofInertia()

template<typename BV >

Matrix3s coal::HeightField< BV >::computeMomentofInertia ( ) const

inlineprotectedvirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

Definition at line 340 of file coal/hfield.h.

◆ computeVolume()

template<typename BV >

CoalScalar coal::HeightField< BV >::computeVolume ( ) const

inlineprotectedvirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

Definition at line 338 of file coal/hfield.h.

◆ getBV() [1/2]

template<typename BV >

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

inline

Access the bv giving the its index.

Definition at line 490 of file coal/hfield.h.

◆ getBV() [2/2]

template<typename BV >

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

inline

Access the bv giving the its index.

Definition at line 483 of file coal/hfield.h.

◆ getHeights()

template<typename BV >

const MatrixXs& coal::HeightField< BV >::getHeights ( ) const

inline

Returns a const reference of the heights.

Definition at line 257 of file coal/hfield.h.

◆ getMaxHeight()

template<typename BV >

CoalScalar coal::HeightField< BV >::getMaxHeight ( ) const

inline

Returns the maximal height value of the Height Field.

Definition at line 267 of file coal/hfield.h.

◆ getMinHeight()

template<typename BV >

CoalScalar coal::HeightField< BV >::getMinHeight ( ) const

inline

Returns the minimal height value of the Height Field.

Definition at line 265 of file coal/hfield.h.

◆ getNodes()

template<typename BV >

const BVS& coal::HeightField< BV >::getNodes ( ) const

inline

Definition at line 271 of file coal/hfield.h.

◆ getNodeType() [1/17]

NODE_TYPE coal::HeightField< AABB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 51 of file hfield.cpp.

◆ getNodeType() [2/17]

NODE_TYPE coal::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 56 of file hfield.cpp.

◆ getNodeType() [3/17]

NODE_TYPE coal::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 61 of file hfield.cpp.

◆ getNodeType() [4/17]

NODE_TYPE coal::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 66 of file hfield.cpp.

◆ getNodeType() [5/17]

NODE_TYPE coal::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 71 of file hfield.cpp.

◆ getNodeType() [6/17]

NODE_TYPE coal::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 76 of file hfield.cpp.

◆ getNodeType() [7/17]

NODE_TYPE coal::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 81 of file hfield.cpp.

◆ getNodeType() [8/17]

NODE_TYPE coal::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 86 of file hfield.cpp.

◆ getNodeType() [9/17]

template<typename BV >

NODE_TYPE coal::HeightField< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from coal::CollisionGeometry.

Definition at line 497 of file coal/hfield.h.

◆ getNodeType() [10/17]

NODE_TYPE coal::HeightField< AABB >::getNodeType ( ) const

virtual

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

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [11/17]

NODE_TYPE coal::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [12/17]

NODE_TYPE coal::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [13/17]

NODE_TYPE coal::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [14/17]

NODE_TYPE coal::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [15/17]

NODE_TYPE coal::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [16/17]

NODE_TYPE coal::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [17/17]

NODE_TYPE coal::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getObjectType()

template<typename BV >

OBJECT_TYPE coal::HeightField< BV >::getObjectType ( ) const

inlineprotectedvirtual

Get the object type: it is a HFIELD.

Reimplemented from coal::CollisionGeometry.

Definition at line 334 of file coal/hfield.h.

◆ getXDim()

template<typename BV >

CoalScalar coal::HeightField< BV >::getXDim ( ) const

inline

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

Definition at line 260 of file coal/hfield.h.

◆ getXGrid()

template<typename BV >

const VecXs& coal::HeightField< BV >::getXGrid ( ) const

inline

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

Definition at line 252 of file coal/hfield.h.

◆ getYDim()

template<typename BV >

CoalScalar coal::HeightField< BV >::getYDim ( ) const

inline

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

Definition at line 262 of file coal/hfield.h.

◆ getYGrid()

template<typename BV >

const VecXs& coal::HeightField< BV >::getYGrid ( ) const

inline

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

Definition at line 254 of file coal/hfield.h.

◆ init()

template<typename BV >

void coal::HeightField< BV >::init	(	const CoalScalar	x_dim,
		const CoalScalar	y_dim,
		const MatrixXs &	heights,
		const CoalScalar	min_height
	)

inlineprotected

Definition at line 308 of file coal/hfield.h.

◆ isEqual()

template<typename BV >

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

inlineprivatevirtual

equal operator with another object of derived type.

Implements coal::CollisionGeometry.

Definition at line 500 of file coal/hfield.h.

◆ recursiveBuildTree()

template<typename BV >

CoalScalar coal::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 398 of file coal/hfield.h.

◆ recursiveUpdateHeight()

template<typename BV >

CoalScalar coal::HeightField< BV >::recursiveUpdateHeight ( const size_t bv_id )

inlineprotected

Definition at line 374 of file coal/hfield.h.

◆ updateHeights()

template<typename BV >

void coal::HeightField< BV >::updateHeights ( const MatrixXs & new_heights )

inline

Update Height Field height.

Definition at line 290 of file coal/hfield.h.

Member Data Documentation

◆ Base

template<typename BV >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CollisionGeometry coal::HeightField< BV >::Base

Definition at line 206 of file coal/hfield.h.

◆ bvs

template<typename BV >

BVS coal::HeightField< BV >::bvs

protected

Bounding volume hierarchy.

Definition at line 358 of file coal/hfield.h.

◆ heights

template<typename BV >

MatrixXs coal::HeightField< BV >::heights

protected

Elevation values in meters of the Height Field.

Definition at line 347 of file coal/hfield.h.

◆ max_height

template<typename BV >

CoalScalar coal::HeightField< BV >::max_height

protected

Definition at line 351 of file coal/hfield.h.

◆ min_height

template<typename BV >

CoalScalar coal::HeightField< BV >::min_height

protected

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

Definition at line 351 of file coal/hfield.h.

◆ num_bvs

template<typename BV >

unsigned int coal::HeightField< BV >::num_bvs

protected

Definition at line 359 of file coal/hfield.h.

◆ x_dim

template<typename BV >

CoalScalar coal::HeightField< BV >::x_dim

protected

Dimensions in meters along X and Y directions.

Definition at line 344 of file coal/hfield.h.

◆ x_grid

template<typename BV >

VecXs coal::HeightField< BV >::x_grid

protected

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

Definition at line 355 of file coal/hfield.h.

◆ y_dim

template<typename BV >

CoalScalar coal::HeightField< BV >::y_dim

protected

Definition at line 344 of file coal/hfield.h.

◆ y_grid

template<typename BV >

VecXs coal::HeightField< BV >::y_grid

protected

Definition at line 355 of file coal/hfield.h.

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

coal/hfield.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<typename BV> class coal::HeightField< BV >

Member Typedef Documentation

◆ 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()

◆ getNodes()

◆ 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

◆ Base

◆ bvs

◆ heights

◆ max_height

◆ min_height

◆ num_bvs

◆ x_dim

◆ x_grid

◆ y_dim

◆ y_grid

template<typename BV>
class coal::HeightField< BV >