robot_self_filter::SelfMask< tpCloudType > Class Template Reference

Computing a mask for a pointcloud that states which points are inside the robot. More...

#include <self_mask.h>

Classes
struct	SeeLink
struct	SortBodies
Public Member Functions
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp, const btVector3 &sensor_pos, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. Also specify which possition to assume for the sensor (frame is not needed).
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp, const std::string &sensor_frame, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	getLinkNames (std::vector< std::string > &frames) const
	Get the set of link names that have been instantiated for self filtering.
int	getMaskContainment (const btVector3 &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (const btVector3 &pt, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (double x, double y, double z, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
void	maskContainment (const tpCloudType &data_in, std::vector< int > &mask)
	Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.
void	maskIntersection (const tpCloudType &data_in, const btVector3 &sensor, const double min_sensor_dist, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The origin of the sensor is specified as well.
void	maskIntersection (const tpCloudType &data_in, const std::string &sensor_frame, const double min_sensor_dist, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &intersectionCallback=NULL)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The sensor frame is specified to obtain the origin of the sensor. A callback can be registered for the first intersection point on each body.
	SelfMask (tf::TransformListener &tf, const std::vector< LinkInfo > &links)
	Construct the filter.
	~SelfMask (void)
	Destructor to clean up.
Private Member Functions
void	computeBoundingSpheres (void)
	Compute bounding spheres for the checked robot links.
bool	configure (const std::vector< LinkInfo > &links)
	Configure the filter.
void	freeMemory (void)
	Free memory.
void	maskAuxContainment (const tpCloudType &data_in, std::vector< int > &mask)
	Perform the actual mask computation.
void	maskAuxIntersection (const tpCloudType &data_in, std::vector< int > &mask, const boost::function< void(const btVector3 &)> &callback)
	Perform the actual mask computation.
Private Attributes
std::vector< SeeLink >	bodies_
std::vector < bodies::BoundingSphere >	bspheres_
std::vector< double >	bspheresRadius2_
double	min_sensor_dist_
ros::NodeHandle	nh_
btVector3	sensor_pos_
tf::TransformListener &	tf_

Detailed Description