#include <propagation_distance_field.h>

Inheritance diagram for distance_field::SignedPropagationDistanceField:

Public Member Functions
virtual void	addPointsToField (const std::vector< tf::Vector3 > &points)
	Add (and expand) a set of points to the distance field.
virtual void	reset ()
	Resets the distance field to the max_distance.
	SignedPropagationDistanceField (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, double max_distance)
virtual	~SignedPropagationDistanceField ()
Private Member Functions
int	getDirectionNumber (int dx, int dy, int dz) const
virtual double	getDistance (const SignedPropDistanceFieldVoxel &object) const
void	initNeighborhoods ()
Static Private Member Functions
static int	eucDistSq (int3 point1, int3 point2)
Private Attributes
std::vector< int3 >	direction_number_to_direction_
double	max_distance_
int	max_distance_sq_
std::vector< std::vector < SignedPropDistanceFieldVoxel * > >	negative_bucket_queue_
std::vector< std::vector < std::vector< int3 > > >	neighborhoods_
std::vector< std::vector < SignedPropDistanceFieldVoxel * > >	positive_bucket_queue_
std::vector< double >	sqrt_table_

Detailed Description

Definition at line 200 of file propagation_distance_field.h.

Constructor & Destructor Documentation

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

Definition at line 448 of file propagation_distance_field.cpp.

distance_field::SignedPropagationDistanceField::~SignedPropagationDistanceField ( ) [virtual]

Definition at line 444 of file propagation_distance_field.cpp.

Member Function Documentation

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

Add (and expand) a set of points to the distance field.

This function will incrementally add the given points and update the distance field correspondingly. Use the reset() function if you need to remove all points and start afresh.

Implements distance_field::DistanceField< SignedPropDistanceFieldVoxel >.

Definition at line 471 of file propagation_distance_field.cpp.

int distance_field::SignedPropagationDistanceField::eucDistSq	(	int3	point1,
		int3	point2
	)		`[static, private]`

Definition at line 463 of file propagation_distance_field.cpp.

int distance_field::SignedPropagationDistanceField::getDirectionNumber	(	int	dx,
		int	dy,
		int	dz
	)		const `[private]`

Definition at line 749 of file propagation_distance_field.cpp.

double distance_field::SignedPropagationDistanceField::getDistance ( const SignedPropDistanceFieldVoxel & object ) const [inline, private, virtual]