Inheritance diagram for TestMask:

Public Member Functions
	TestMask (const point_containment_filter::ShapeMask::TransformCallback &transformCallback, double minSensorDist, double maxSensorDist, bool doClipping, bool doContainsTest, bool doShadowTest)

Public Member Functions inherited from robot_body_filter::RayCastingShapeMask
MultiShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double containsScale, double containsPadding, double shadowScale, double shadowPadding, double bsphereScale, double bspherePadding, double bboxScale, double bboxPadding, bool updateInternalStructures=true, const std::string &name="")
	Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed. More...

MultiShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0, bool updateInternalStructures=true, const std::string &name="")
	Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodies () const
	Provides the map of shape handle to corresponding body (for all added shapes). More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForBoundingBox () const
	Provides the map of shape handle to corresponding body for shapes that should be used in bounding box computation. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForBoundingSphere () const
	Provides the map of shape handle to corresponding body for shapes that should be used in bounding sphere computation. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForContainsTest () const
	Provides the map of shape handle to corresponding body for shapes that should be used in contains tests. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForShadowTest () const
	Provides the map of shape handle to corresponding body for shapes that should be used in shadow testing. More...

bodies::BoundingSphere	getBoundingSphere () const
	Get the bounding sphere containing all registered shapes. More...

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere >	getBoundingSpheres () const
	Get the map of bounding spheres of all registered shapes. More...

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere >	getBoundingSpheresForContainsTest () const
	Get the map of bounding spheres of all registered shapes that are used for testing INSIDE points. More...

void	maskContainmentAndShadows (const Cloud &data, std::vector< MaskValue > &mask, const Eigen::Vector3d &sensorPos=Eigen::Vector3d::Zero())
	Decide whether the points in data are either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

void	maskContainmentAndShadows (const Eigen::Vector3f &data, MaskValue &mask, const Eigen::Vector3d &sensorPos=Eigen::Vector3d::Zero(), bool updateBodyPoses=true)
	Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

	RayCastingShapeMask (const TransformCallback &transformCallback, double minSensorDist=0.0, double maxSensorDist=1e10, bool doClipping=true, bool doContainsTest=true, bool doShadowTest=true, double maxShadowDist=-1.0)

void	removeShape (const MultiShapeHandle &handle, bool updateInternalStructures=true)
	Remove the shape identified by the given handle from the filtering mask. More...

void	setIgnoreInContainsTest (std::unordered_set< MultiShapeHandle > ignoreInContainsTest, bool updateInternalStructures=true)
	Set the shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows. More...

void	setIgnoreInShadowTest (std::unordered_set< MultiShapeHandle > ignoreInShadowTest, bool updateInternalStructures=true)
	Set the shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows. More...

void	setTransformCallback (const TransformCallback &transform_callback)
	Set the callback which is called whenever a pose of a body needs to be updated. More...

void	updateBodyPoses ()
	Update the poses of bodies and recompute corresponding bounding spheres. More...

void	updateInternalShapeLists ()
	Update internal structures. Should be called whenever a shape is added, removed or ignored. By default, it is called automatically by the methods that affect the list of shapes. However, for efficiency, the caller can tell these methods to not update the shape lists and call this when a batch operation is finished. More...

virtual	~RayCastingShapeMask ()

Friends
class	RayCastingShapeMask_Basic_Test

class	RayCastingShapeMask_Bspheres_Test

class	RayCastingShapeMask_ClassifyPoint_Test

Additional Inherited Members
Public Types inherited from robot_body_filter::RayCastingShapeMask
enum	MaskValue : std::uint8_t { MaskValue::INSIDE = 0, MaskValue::OUTSIDE = 1, MaskValue::CLIP = 2, MaskValue::SHADOW = 3 }

Protected Types inherited from point_containment_filter::ShapeMask
typedef boost::function< bool(ShapeHandle, Eigen::Isometry3d &)>	TransformCallback

Protected Member Functions inherited from robot_body_filter::RayCastingShapeMask
void	classifyPointNoLock (const Eigen::Vector3d &data, MaskValue &mask, const Eigen::Vector3d &sensorPos)
	Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

bodies::BoundingSphere	getBoundingSphereForContainsTestNoLock () const
	Get the bounding sphere containing all shapes that are to be used in the contains test. More...

bodies::BoundingSphere	getBoundingSphereNoLock () const
	Get the bounding sphere containing all registered shapes. More...

void	updateBodyPosesNoLock ()
	Update the poses of bodies_ and recompute corresponding bspheres_ and boundingBoxes. More...

Protected Member Functions inherited from point_containment_filter::ShapeMask
ShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0)

int	getMaskContainment (const Eigen::Vector3d &pt) const

int	getMaskContainment (double x, double y, double z) const

void	maskContainment (const sensor_msgs::PointCloud2 &data_in, const Eigen::Vector3d &sensor_pos, const double min_sensor_dist, const double max_sensor_dist, std::vector< int > &mask)

void	removeShape (ShapeHandle handle)

void	setTransformCallback (const TransformCallback &transform_callback)

	ShapeMask (const TransformCallback &transform_callback=TransformCallback())

virtual	~ShapeMask ()

Protected Attributes inherited from robot_body_filter::RayCastingShapeMask
std::vector< size_t >	bspheresBodyIndices
	Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheres_. Indices in this vector correspond to indices in bspheres_. Values of this vector correspond to indices in bodies_. More...

std::vector< bodies::BoundingSphere >	bspheresForContainsTest
	Bounding spheres to be used for classifying INSIDE points. More...

std::vector< size_t >	bspheresForContainsTestBodyIndices
	Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheresForContainsTest. Indices in this vector correspond to indices in bspheresForContainsTest. Values of this vector correspond to indices in bodies_. More...

std::unique_ptr< RayCastingShapeMaskPIMPL >	data
	Implementation-private data. More...

bool	doClipping = true
	Classify for CLIP during masking. More...

bool	doContainsTest = true
	Classify for INSIDE during masking. More...

bool	doShadowTest = true
	Classify for SHADOW during masking. More...

std::unordered_set< MultiShapeHandle >	ignoreInBbox
	Shapes to be ignored when computing the robot's bounding box. More...

std::unordered_set< MultiShapeHandle >	ignoreInBsphere
	Shapes to be ignored when computing the robot's bounding sphere. More...

std::unordered_set< MultiShapeHandle >	ignoreInContainsTest
	Shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows. More...

std::unordered_set< MultiShapeHandle >	ignoreInShadowTest
	Shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows. E.g. the sensor collision shape should be listed here. More...

double	maxSensorDist
	Maximum sensing distance of the sensor. More...

double	maxShadowDist
	Maximum distance of a point classified as SHADOW (further are OUTSIDE). More...

double	minSensorDist
	Minimum sensing distance of the sensor. More...

Protected Attributes inherited from point_containment_filter::ShapeMask
std::set< SeeShape, SortBodies >	bodies_

std::vector< bodies::BoundingSphere >	bspheres_

boost::mutex	shapes_lock_

TransformCallback	transform_callback_

	CLIP

	INSIDE

	OUTSIDE

Detailed Description

Definition at line 11 of file test_ray_casting_shape_mask.cpp.

Constructor & Destructor Documentation

◆ TestMask()

TestMask::TestMask	(	const point_containment_filter::ShapeMask::TransformCallback &	transformCallback,
		double	minSensorDist,
		double	maxSensorDist,
		bool	doClipping,
		bool	doContainsTest,
		bool	doShadowTest
	)