Public Member Functions | Public Attributes | Static Public Attributes
distance_field::PropDistanceFieldVoxel Struct Reference

Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...

#include <propagation_distance_field.h>

List of all members.

Public Member Functions

 PropDistanceFieldVoxel ()
 Constructor. All fields left uninitialized.
 PropDistanceFieldVoxel (int distance_sq_positive, int distance_sq_negative)
 Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared.

Public Attributes

Eigen::Vector3i closest_negative_point_
 Closest unoccupied cell.
Eigen::Vector3i closest_point_
 Closest occupied cell.
int distance_square_
 Distance in cells to the closest obstacle, squared.
int negative_distance_square_
 Distance in cells to the nearest unoccupied cell, squared.
int negative_update_direction_
 Direction from which this voxel was updated for negative distance propagation.
int update_direction_
 Direction from which this voxel was updated for occupied distance propagation.

Static Public Attributes

static const int UNINITIALIZED = -1
 Value that represents an unitialized voxel.

Detailed Description

Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid.

Definition at line 72 of file propagation_distance_field.h.


Constructor & Destructor Documentation

Constructor. All fields left uninitialized.

Definition at line 599 of file propagation_distance_field.h.

distance_field::PropDistanceFieldVoxel::PropDistanceFieldVoxel ( int  distance_sq_positive,
int  distance_sq_negative 
) [inline]

Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared.

Parameters:
[in]distance_sq_positiveValue to which to initialize distance_sq_ for distance to closest obstalce
[in]distance_sq_negativeValue to which to initialize distance_sq_negative_ for distance to nearest non-obstacle cell

Definition at line 588 of file propagation_distance_field.h.


Member Data Documentation

Closest unoccupied cell.

Definition at line 99 of file propagation_distance_field.h.

Closest occupied cell.

Definition at line 98 of file propagation_distance_field.h.

Distance in cells to the closest obstacle, squared.

Definition at line 96 of file propagation_distance_field.h.

Distance in cells to the nearest unoccupied cell, squared.

Definition at line 97 of file propagation_distance_field.h.

Direction from which this voxel was updated for negative distance propagation.

Definition at line 101 of file propagation_distance_field.h.

Value that represents an unitialized voxel.

Definition at line 104 of file propagation_distance_field.h.

Direction from which this voxel was updated for occupied distance propagation.

Definition at line 100 of file propagation_distance_field.h.


The documentation for this struct was generated from the following file:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:46