Public Member Functions | Public Attributes | Static Public Attributes | List of all members
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. More...
 
 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. More...
 

Public Attributes

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

Static Public Attributes

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

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

distance_field::PropDistanceFieldVoxel::PropDistanceFieldVoxel ( )
inline

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

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.

int distance_field::PropDistanceFieldVoxel::distance_square_

Distance in cells to the closest obstacle, squared.

Definition at line 96 of file propagation_distance_field.h.

int distance_field::PropDistanceFieldVoxel::negative_distance_square_

Distance in cells to the nearest unoccupied cell, squared.

Definition at line 97 of file propagation_distance_field.h.

int distance_field::PropDistanceFieldVoxel::negative_update_direction_

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.

int distance_field::PropDistanceFieldVoxel::update_direction_

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 Jul 18 2018 02:48:32