Classes
class	BoundedPlane
Functions
def	combine
def	intersect
def	merge_planes
def	mult
def	normalize
def	normalize_eq
def	one_sided_intersect
def	polygons_intersect
def	project_onto_normal
def	to_marker
def	to_plane_msg
def	to_tuple
	Internal.
def	trans2d
def	trans_to_pt
def	workaround_incorrect_planes
Variables
list	COLORS = []
float	DEFAULT_MAX_DISP = 0.2
tuple	LOG = logging.getLogger('world_model.planes')

Function Documentation

def semanticmodel.plane_data_association.combine	(	p1,
		p2
	)

Combines the two bounded planes to form a new one

Definition at line 145 of file plane_data_association.py.

def semanticmodel.plane_data_association.intersect	(	p1,
		p2,
		max_disp = `DEFAULT_MAX_DISP`
	)

Checks if:
1) the two sets lie on the same plane (approximately)
2) the polygons intersect

Definition at line 97 of file plane_data_association.py.

def semanticmodel.plane_data_association.merge_planes	(	planes,
		p,
		max_disp = `DEFAULT_MAX_DISP`
	)

P must intersect at least one plane.  Combine it with that plane, then
process any additional intersections that result.

Definition at line 116 of file plane_data_association.py.

def semanticmodel.plane_data_association.mult	(	m,
		p
	)

Definition at line 226 of file plane_data_association.py.

def semanticmodel.plane_data_association.normalize ( v )

Definition at line 242 of file plane_data_association.py.

def semanticmodel.plane_data_association.normalize_eq ( m )

Definition at line 238 of file plane_data_association.py.

def semanticmodel.plane_data_association.one_sided_intersect	(	p1,
		p2
	)

Iterate over sides of P1 and see if one of them separates the two polygons.
If there is, the polygons don't intersect.

Definition at line 248 of file plane_data_association.py.

def semanticmodel.plane_data_association.polygons_intersect	(	p1,
		p2
	)

Definition at line 245 of file plane_data_association.py.

def semanticmodel.plane_data_association.project_onto_normal	(	poly,
		q1,
		q2
	)

Definition at line 262 of file plane_data_association.py.

def semanticmodel.plane_data_association.to_marker	(	planes,
		timestamp = `None`
	)

Definition at line 178 of file plane_data_association.py.

def semanticmodel.plane_data_association.to_plane_msg ( bp )

Definition at line 162 of file plane_data_association.py.

def semanticmodel.plane_data_association.to_tuple ( p )

Internal.

Definition at line 212 of file plane_data_association.py.

def semanticmodel.plane_data_association.trans2d	(	m,
		p
	)

Definition at line 230 of file plane_data_association.py.

def semanticmodel.plane_data_association.trans_to_pt	(	m,
		p
	)

Definition at line 234 of file plane_data_association.py.

def semanticmodel.plane_data_association.workaround_incorrect_planes ( m )

Definition at line 216 of file plane_data_association.py.

Variable Documentation

Definition at line 53 of file plane_data_association.py.

Definition at line 52 of file plane_data_association.py.

tuple semanticmodel::plane_data_association::LOG = logging.getLogger('world_model.planes')

Definition at line 50 of file plane_data_association.py.