Class DynamicEDT3D

Defined in File dynamicEDT3D.h

Nested Relationships

Nested Types

Struct DynamicEDT3D::dataCell

Inheritance Relationships

Derived Type

private DynamicEDTOctomapBase< TREE > (Template Class DynamicEDTOctomapBase)

Class Documentation

class DynamicEDT3D

A DynamicEDT3D object computes and updates a 3D distance map.

dynamicEDT3D: A library for incrementally updatable Euclidean distance transforms in 3D.

See also

http://octomap.sourceforge.net/ License: New BSD License

Author: C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.

Subclassed by DynamicEDTOctomapBase< TREE >

Public Types

enum ObstDataState

Values:

enumerator invalidObstData

Public Functions

DynamicEDT3D(int _maxdist_squared)

~DynamicEDT3D()

void initializeEmpty(int _sizeX, int _sizeY, int sizeZ, bool initGridMap = true): Initialization with an empty map.

void initializeMap(int _sizeX, int _sizeY, int sizeZ, bool ***_gridMap): Initialization with a given binary map (false==free, true==occupied)

void occupyCell(int x, int y, int z): add an obstacle at the specified cell coordinate

void clearCell(int x, int y, int z): remove an obstacle at the specified cell coordinate

void exchangeObstacles(std::vector<INTPOINT3D> newObstacles): remove old dynamic obstacles and add the new ones

virtual void update(bool updateRealDist = true): update distance map to reflect the changes

float getDistance(int x, int y, int z) const: returns the obstacle distance at the specified location

INTPOINT3D getClosestObstacle(int x, int y, int z) const: gets the closest occupied cell for that location

int getSQCellDistance(int x, int y, int z) const: returns the squared obstacle distance in cell units at the specified location

bool isOccupied(int x, int y, int z) const: checks whether the specficied location is occupied

inline unsigned int getSizeX() const: returns the x size of the workspace/map

inline unsigned int getSizeY() const: returns the y size of the workspace/map

inline unsigned int getSizeZ() const: returns the z size of the workspace/map

Public Static Attributes

static float distanceValue_Error: distance value returned when requesting distance for a cell outside the map

static int distanceInCellsValue_Error: distance value returned when requesting distance in cell units for a cell outside the map

Protected Types

enum State

Values:

enumerator free

enumerator occupied

enum QueueingState

Values:

enumerator fwNotQueued

enumerator fwQueued

enumerator fwProcessed

enumerator bwQueued

enumerator bwProcessed

Protected Functions

inline void raiseCell(INTPOINT3D &p, dataCell &c, bool updateRealDist)

inline void propagateCell(INTPOINT3D &p, dataCell &c, bool updateRealDist)

inline void inspectCellRaise(int &nx, int &ny, int &nz, bool updateRealDist)

inline void inspectCellPropagate(int &nx, int &ny, int &nz, dataCell &c, bool updateRealDist)

void setObstacle(int x, int y, int z)

void removeObstacle(int x, int y, int z)

Protected Attributes

int sizeX

int sizeY

int sizeZ

int sizeXm1

int sizeYm1

int sizeZm1

dataCell ***data

bool ***gridMap

int padding

double doubleThreshold

double sqrt2

double maxDist

int maxDist_squared

struct dataCell

Public Members

float dist

int obstX

int obstY

int obstZ

int sqdist

char queueing

bool needsRaise