distance_field::PropDistanceFieldVoxel Struct Reference

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

`#include <propagation_distance_field.h>`

## 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. |

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

Definition at line 72 of file propagation_distance_field.h.

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_positive Value to which to initialize distance_sq_ for distance to closest obstalce [in] distance_sq_negative Value to which to initialize distance_sq_negative_ for distance to nearest non-obstacle cell

Definition at line 588 of file propagation_distance_field.h.

Eigen::Vector3i distance_field::PropDistanceFieldVoxel::closest_negative_point_ |

Closest unoccupied cell.

Definition at line 99 of file propagation_distance_field.h.

Eigen::Vector3i distance_field::PropDistanceFieldVoxel::closest_point_ |

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.

const int distance_field::PropDistanceFieldVoxel::UNINITIALIZED = -1` [static]` |

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 Wed Jun 19 2019 19:23:50

Author(s): Ioan Sucan

autogenerated on Wed Jun 19 2019 19:23:50