jsk_footstep_planner::ANNGrid Class Reference

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 Eigen::Vector3f &p) const
virtual Index	pointToIndex (const pcl::PointNormal &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 125 of file ann_grid.h.

Member Typedef Documentation

Index

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

Definition at line 129 of file ann_grid.h.

IndexArray

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

Definition at line 130 of file ann_grid.h.

Ptr

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

Definition at line 128 of file ann_grid.h.

Constructor & Destructor Documentation

ANNGrid()

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

inline

Definition at line 131 of file ann_grid.h.

~ANNGrid()

virtual jsk_footstep_planner::ANNGrid::~ANNGrid ( )

inlinevirtual

Definition at line 132 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 126 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 109 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 218 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 133 of file ann_grid.cpp.

build()

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

virtual

Definition at line 75 of file ann_grid.cpp.

fill()

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

virtual

Definition at line 193 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 177 of file ann_grid.cpp.

getCell()

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

inline

Definition at line 155 of file ann_grid.h.

pointToIndex() [1/2]

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

inlinevirtual

Definition at line 147 of file ann_grid.h.

pointToIndex() [2/2]

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

inlinevirtual

Definition at line 138 of file ann_grid.h.

toImage() [1/2]

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

virtual

Definition at line 241 of file ann_grid.cpp.

toImage() [2/2]

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

virtual

Definition at line 246 of file ann_grid.cpp.

Member Data Documentation

cells_

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

protected

Definition at line 190 of file ann_grid.h.

grid_size_

const double jsk_footstep_planner::ANNGrid::grid_size_

protected

Definition at line 189 of file ann_grid.h.

mat_

cv::Mat jsk_footstep_planner::ANNGrid::mat_

protected

Definition at line 191 of file ann_grid.h.

min_point_

Eigen::Vector3f jsk_footstep_planner::ANNGrid::min_point_

protected

Definition at line 192 of file ann_grid.h.

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

• ann_grid.h
• ann_grid.cpp