#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, pcl::search::Octree< pcl::PointNormal > &tree)
pcl::PointIndices::Ptr	cropPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr cloud, ANNGrid::Ptr grid_search)
pcl::PointIndices::Ptr	cropPointCloudExact (pcl::PointCloud< pcl::PointNormal >::Ptr cloud, pcl::PointIndices::Ptr near_indices)
float	cross2d (const Eigen::Vector2f &a, const Eigen::Vector2f &b) const
virtual bool	crossCheck (FootstepState::Ptr other)
	return true if this and other are collision free.
	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 ()
virtual int	getLeg ()
virtual Eigen::Affine3f	getPose ()
virtual Eigen::Vector3f	getResolution ()
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)
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, double outlier_threshold, int max_iterations, int min_inliers, int foot_x_sampling_num=3, int foot_y_sampling_num=3, double vertex_threshold=0.02, const bool skip_cropping=true)
virtual void	setPose (const Eigen::Affine3f &pose)
template<class PointT >
PointT	toPoint ()
virtual jsk_footstep_msgs::Footstep::Ptr	toROSMsg ()
void	vertices (Eigen::Vector3f &a, Eigen::Vector3f &b, Eigen::Vector3f &c, Eigen::Vector3f &d)
Static Public Member Functions
static FootstepState::Ptr	fromROSMsg (const jsk_footstep_msgs::Footstep &f, const Eigen::Vector3f &size, const Eigen::Vector3f &resolution)
Protected Attributes
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 77 of file footstep_state.h.

Member Typedef Documentation

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

Definition at line 80 of file footstep_state.h.

Constructor & Destructor Documentation

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

Definition at line 81 of file footstep_state.h.

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 96 of file footstep_state.h.

Member Function Documentation

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepState::cropPointCloud	(	pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		pcl::search::Octree< pcl::PointNormal > &	tree
	)

Definition at line 140 of file footstep_state.cpp.

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepState::cropPointCloud	(	pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		ANNGrid::Ptr	grid_search
	)

Definition at line 127 of file footstep_state.cpp.

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepState::cropPointCloudExact	(	pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		pcl::PointIndices::Ptr	near_indices
	)

Definition at line 85 of file footstep_state.cpp.

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

Definition at line 113 of file footstep_state.h.

bool jsk_footstep_planner::FootstepState::crossCheck ( FootstepState::Ptr other ) [virtual]

return true if this and other are collision free.

Definition at line 153 of file footstep_state.cpp.

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 425 of file footstep_state.cpp.

virtual Eigen::Vector3f jsk_footstep_planner::FootstepState::getDimensions ( ) [inline, virtual]

Definition at line 182 of file footstep_state.h.

virtual int jsk_footstep_planner::FootstepState::getLeg ( ) [inline, virtual]

Definition at line 181 of file footstep_state.h.

virtual Eigen::Affine3f jsk_footstep_planner::FootstepState::getPose ( ) [inline, virtual]

Definition at line 175 of file footstep_state.h.

virtual Eigen::Vector3f jsk_footstep_planner::FootstepState::getResolution ( ) [inline, virtual]

Definition at line 190 of file footstep_state.h.

virtual int jsk_footstep_planner::FootstepState::indexT ( ) [inline, virtual]

Definition at line 195 of file footstep_state.h.

virtual int jsk_footstep_planner::FootstepState::indexX ( ) [inline, virtual]

Definition at line 193 of file footstep_state.h.

virtual int jsk_footstep_planner::FootstepState::indexY ( ) [inline, virtual]

Definition at line 194 of file footstep_state.h.

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 301 of file footstep_state.cpp.

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 372 of file footstep_state.cpp.

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

Definition at line 183 of file footstep_state.h.

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,
		double	outlier_threshold,
		int	max_iterations,
		int	min_inliers,
		int	foot_x_sampling_num = `3`,
		int	foot_y_sampling_num = `3`,
		double	vertex_threshold = `0.02`,
		const bool	skip_cropping = `true`
	)		`[virtual]`