Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
jsk_footstep_planner::FootstepState Class Reference

#include <footstep_state.h>

Public Types

typedef boost::shared_ptr< FootstepState > Ptr
 

Public Member Functions

pcl::PointIndices::Ptr cropPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr cloud, ANNGrid::Ptr grid_search, double padding_x=0.0, double padding_y=0.0)
 
pcl::PointIndices::Ptr cropPointCloudExact (pcl::PointCloud< pcl::PointNormal >::Ptr cloud, pcl::PointIndices::Ptr near_indices, double padding_x=0.0, double padding_y=0.0)
 
float cross2d (const Eigen::Vector2f &a, const Eigen::Vector2f &b) const
 
virtual bool crossCheck (FootstepState::Ptr other, float collision_padding=0)
 return true if this and other are collision free. More...
 
 FootstepState (int leg, const Eigen::Affine3f &pose, const Eigen::Vector3f &dimensions, const Eigen::Vector3f &resolution)
 
 FootstepState (int leg, const Eigen::Affine3f &pose, const Eigen::Vector3f &dimensions, const Eigen::Vector3f &resolution, int index_x, int index_y, int index_yaw)
 
virtual Eigen::Vector3f getDimensions () const
 
virtual int getLeg () const
 
virtual Eigen::Affine3f getPose () const
 
virtual Eigen::Vector3f getResolution () const
 
virtual int indexT ()
 
virtual int indexX ()
 
virtual int indexY ()
 
virtual FootstepSupportState isSupportedByPointCloud (const Eigen::Affine3f &pose, pcl::PointCloud< pcl::PointNormal >::Ptr cloud, pcl::KdTreeFLANN< pcl::PointNormal > &tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)
 
virtual FootstepSupportState isSupportedByPointCloudWithoutCropping (const Eigen::Affine3f &pose, pcl::PointCloud< pcl::PointNormal >::Ptr cloud, pcl::KdTreeFLANN< pcl::PointNormal > &tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)
 
virtual Eigen::Affine3f midcoords (const FootstepState &other)
 
bool operator== (FootstepState &other)
 
virtual FootstepState::Ptr projectToCloud (pcl::KdTreeFLANN< pcl::PointNormal > &tree, pcl::PointCloud< pcl::PointNormal >::Ptr cloud, ANNGrid::Ptr grid_search, pcl::search::Octree< pcl::PointNormal > &tree_2d, pcl::PointCloud< pcl::PointNormal >::Ptr cloud_2d, const Eigen::Vector3f &z, unsigned int &error_state, FootstepParameters &parameters)
 
virtual void setPose (const Eigen::Affine3f &pose)
 
template<class PointT >
PointT toPoint ()
 
virtual jsk_footstep_msgs::Footstep::Ptr toROSMsg ()
 
virtual jsk_footstep_msgs::Footstep::Ptr toROSMsg (const Eigen::Vector3f &ioffset)
 
void vertices (Eigen::Vector3f &a, Eigen::Vector3f &b, Eigen::Vector3f &c, Eigen::Vector3f &d, double collision_padding=0)
 

Static Public Member Functions

static FootstepState::Ptr fromROSMsg (const jsk_footstep_msgs::Footstep &f, const Eigen::Vector3f &size, const Eigen::Vector3f &resolution)
 

Protected Attributes

bool debug_print_
 
const Eigen::Vector3f dimensions_
 
int index_x_
 
int index_y_
 
int index_yaw_
 
const int leg_
 
Eigen::Affine3f pose_
 
const Eigen::Vector3f resolution_
 

Detailed Description

Definition at line 112 of file footstep_state.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 115 of file footstep_state.h.

Constructor & Destructor Documentation

◆ FootstepState() [1/2]

jsk_footstep_planner::FootstepState::FootstepState ( int  leg,
const Eigen::Affine3f &  pose,
const Eigen::Vector3f &  dimensions,
const Eigen::Vector3f &  resolution 
)
inline

Definition at line 116 of file footstep_state.h.

◆ FootstepState() [2/2]

jsk_footstep_planner::FootstepState::FootstepState ( int  leg,
const Eigen::Affine3f &  pose,
const Eigen::Vector3f &  dimensions,
const Eigen::Vector3f &  resolution,
int  index_x,
int  index_y,
int  index_yaw 
)
inline

Definition at line 132 of file footstep_state.h.

Member Function Documentation

◆ cropPointCloud()

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepState::cropPointCloud ( pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
ANNGrid::Ptr  grid_search,
double  padding_x = 0.0,
double  padding_y = 0.0 
)

Definition at line 155 of file footstep_state.cpp.

◆ cropPointCloudExact()

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepState::cropPointCloudExact ( pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
pcl::PointIndices::Ptr  near_indices,
double  padding_x = 0.0,
double  padding_y = 0.0 
)

Definition at line 112 of file footstep_state.cpp.

◆ cross2d()

float jsk_footstep_planner::FootstepState::cross2d ( const Eigen::Vector2f &  a,
const Eigen::Vector2f &  b 
) const
inline

Definition at line 150 of file footstep_state.h.

◆ crossCheck()

bool jsk_footstep_planner::FootstepState::crossCheck ( FootstepState::Ptr  other,
float  collision_padding = 0 
)
virtual

return true if this and other are collision free.

Definition at line 183 of file footstep_state.cpp.

◆ fromROSMsg()

FootstepState::Ptr jsk_footstep_planner::FootstepState::fromROSMsg ( const jsk_footstep_msgs::Footstep &  f,
const Eigen::Vector3f &  size,
const Eigen::Vector3f &  resolution 
)
static

Definition at line 592 of file footstep_state.cpp.

◆ getDimensions()

virtual Eigen::Vector3f jsk_footstep_planner::FootstepState::getDimensions ( ) const
inlinevirtual

Definition at line 239 of file footstep_state.h.

◆ getLeg()

virtual int jsk_footstep_planner::FootstepState::getLeg ( ) const
inlinevirtual

Definition at line 238 of file footstep_state.h.

◆ getPose()

virtual Eigen::Affine3f jsk_footstep_planner::FootstepState::getPose ( ) const
inlinevirtual

Definition at line 232 of file footstep_state.h.

◆ getResolution()

virtual Eigen::Vector3f jsk_footstep_planner::FootstepState::getResolution ( ) const
inlinevirtual

Definition at line 247 of file footstep_state.h.

◆ indexT()

virtual int jsk_footstep_planner::FootstepState::indexT ( )
inlinevirtual

Definition at line 252 of file footstep_state.h.

◆ indexX()

virtual int jsk_footstep_planner::FootstepState::indexX ( )
inlinevirtual

Definition at line 250 of file footstep_state.h.

◆ indexY()

virtual int jsk_footstep_planner::FootstepState::indexY ( )
inlinevirtual

Definition at line 251 of file footstep_state.h.

◆ isSupportedByPointCloud()

FootstepSupportState jsk_footstep_planner::FootstepState::isSupportedByPointCloud ( const Eigen::Affine3f &  pose,
pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
pcl::KdTreeFLANN< pcl::PointNormal > &  tree,
pcl::PointIndices::Ptr  inliers,
const int  foot_x_sampling_num,
const int  foot_y_sampling_num,
const double  vertex_threshold 
)
virtual

Definition at line 467 of file footstep_state.cpp.

◆ isSupportedByPointCloudWithoutCropping()

FootstepSupportState jsk_footstep_planner::FootstepState::isSupportedByPointCloudWithoutCropping ( const Eigen::Affine3f &  pose,
pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
pcl::KdTreeFLANN< pcl::PointNormal > &  tree,
pcl::PointIndices::Ptr  inliers,
const int  foot_x_sampling_num,
const int  foot_y_sampling_num,
const double  vertex_threshold 
)
virtual

Definition at line 539 of file footstep_state.cpp.

◆ midcoords()

Eigen::Affine3f jsk_footstep_planner::FootstepState::midcoords ( const FootstepState &  other)
virtual

Definition at line 605 of file footstep_state.cpp.

◆ operator==()

bool jsk_footstep_planner::FootstepState::operator== ( FootstepState &  other)
inline

Definition at line 240 of file footstep_state.h.

◆ projectToCloud()

FootstepState::Ptr jsk_footstep_planner::FootstepState::projectToCloud ( pcl::KdTreeFLANN< pcl::PointNormal > &  tree,
pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
ANNGrid::Ptr  grid_search,
pcl::search::Octree< pcl::PointNormal > &  tree_2d,
pcl::PointCloud< pcl::PointNormal >::Ptr  cloud_2d,
const Eigen::Vector3f &  z,
unsigned int &  error_state,
FootstepParameters &  parameters 
)
virtual

Definition at line 210 of file footstep_state.cpp.

◆ setPose()

virtual void jsk_footstep_planner::FootstepState::setPose ( const Eigen::Affine3f &  pose)
inlinevirtual

Definition at line 233 of file footstep_state.h.

◆ toPoint()

template<class PointT >
PointT jsk_footstep_planner::FootstepState::toPoint ( )
inline

Definition at line 203 of file footstep_state.h.

◆ toROSMsg() [1/2]

jsk_footstep_msgs::Footstep::Ptr jsk_footstep_planner::FootstepState::toROSMsg ( )
virtual

Definition at line 85 of file footstep_state.cpp.

◆ toROSMsg() [2/2]

jsk_footstep_msgs::Footstep::Ptr jsk_footstep_planner::FootstepState::toROSMsg ( const Eigen::Vector3f &  ioffset)
virtual

Definition at line 96 of file footstep_state.cpp.

◆ vertices()

void jsk_footstep_planner::FootstepState::vertices ( Eigen::Vector3f &  a,
Eigen::Vector3f &  b,
Eigen::Vector3f &  c,
Eigen::Vector3f &  d,
double  collision_padding = 0 
)
inline

Definition at line 210 of file footstep_state.h.

Member Data Documentation

◆ debug_print_

bool jsk_footstep_planner::FootstepState::debug_print_
protected

Definition at line 281 of file footstep_state.h.

◆ dimensions_

const Eigen::Vector3f jsk_footstep_planner::FootstepState::dimensions_
protected

Definition at line 275 of file footstep_state.h.

◆ index_x_

int jsk_footstep_planner::FootstepState::index_x_
protected

Definition at line 278 of file footstep_state.h.

◆ index_y_

int jsk_footstep_planner::FootstepState::index_y_
protected

Definition at line 279 of file footstep_state.h.

◆ index_yaw_

int jsk_footstep_planner::FootstepState::index_yaw_
protected

Definition at line 280 of file footstep_state.h.

◆ leg_

const int jsk_footstep_planner::FootstepState::leg_
protected

Definition at line 277 of file footstep_state.h.

◆ pose_

Eigen::Affine3f jsk_footstep_planner::FootstepState::pose_
protected

Definition at line 274 of file footstep_state.h.

◆ resolution_

const Eigen::Vector3f jsk_footstep_planner::FootstepState::resolution_
protected

Definition at line 276 of file footstep_state.h.

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

jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:30