Public Types | Public Member Functions | Public Attributes | Private Member Functions
distance_field::PFDistanceField Class Reference

A DistanceField implementation that uses a raster scanning type method by Felzenszwalb et. al. More...

#include <pf_distance_field.h>

Inheritance diagram for distance_field::PFDistanceField:
Inheritance graph
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List of all members.

Public Types

typedef std::vector< float > FloatArray
typedef std::vector< int > IntArray

Public Member Functions

virtual void addPointsToField (const std::vector< tf::Vector3 > points)
 PFDistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z)
virtual void reset ()
 Resets the distance field to the max_distance.
virtual ~PFDistanceField ()

Public Attributes

const float DT_INF

Private Member Functions

void computeDT ()
void dt (const FloatArray &f, size_t nn, FloatArray &ft, IntArray &v, FloatArray &z)
virtual double getDistance (const float &object) const
float sqr (float x)

Detailed Description

A DistanceField implementation that uses a raster scanning type method by Felzenszwalb et. al.

Implementation of "Distance Transforms of Sampled Functions", Pedro F. Felzenszwalb and Daniel P. Huttenlocher, Cornell Computing and Information Science TR2004-1963

Definition at line 51 of file pf_distance_field.h.


Member Typedef Documentation

Definition at line 60 of file pf_distance_field.h.

Definition at line 61 of file pf_distance_field.h.


Constructor & Destructor Documentation

distance_field::PFDistanceField::PFDistanceField ( double  size_x,
double  size_y,
double  size_z,
double  resolution,
double  origin_x,
double  origin_y,
double  origin_z 
)

Definition at line 43 of file pf_distance_field.cpp.

Definition at line 51 of file pf_distance_field.cpp.


Member Function Documentation

void distance_field::PFDistanceField::addPointsToField ( const std::vector< tf::Vector3 >  points) [virtual]

Definition at line 55 of file pf_distance_field.cpp.

Definition at line 69 of file pf_distance_field.cpp.

void distance_field::PFDistanceField::dt ( const FloatArray f,
size_t  nn,
FloatArray ft,
IntArray v,
FloatArray z 
) [private]

Definition at line 122 of file pf_distance_field.cpp.

double distance_field::PFDistanceField::getDistance ( const float &  object) const [inline, private, virtual]

Implements distance_field::DistanceField< float >.

Definition at line 78 of file pf_distance_field.h.

Resets the distance field to the max_distance.

Implements distance_field::DistanceField< float >.

Definition at line 163 of file pf_distance_field.cpp.

float distance_field::PFDistanceField::sqr ( float  x) [inline, private]

Definition at line 69 of file pf_distance_field.h.


Member Data Documentation

Definition at line 66 of file pf_distance_field.h.


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


distance_field
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Thu Dec 12 2013 11:08:36