Public Member Functions | Static Public Member Functions | Static Private Member Functions | List of all members
grid_map::GridMapPclConverter Class Reference

#include <GridMapPclConverter.hpp>

Public Member Functions

 GridMapPclConverter ()=default
 
virtual ~GridMapPclConverter ()=default
 

Static Public Member Functions

static bool addLayerFromPolygonMesh (const pcl::PolygonMesh &mesh, const std::string &layer, grid_map::GridMap &gridMap)
 
static bool initializeFromPolygonMesh (const pcl::PolygonMesh &mesh, const double resolution, grid_map::GridMap &gridMap)
 

Static Private Member Functions

static bool rayTriangleIntersect (const Eigen::Vector3f &point, const Eigen::Vector3f &ray, const Eigen::Matrix3f &triangleVertices, Eigen::Vector3f &intersectionPoint)
 

Detailed Description

Conversions between grid maps and PCL types.

Definition at line 31 of file GridMapPclConverter.hpp.

Constructor & Destructor Documentation

grid_map::GridMapPclConverter::GridMapPclConverter ( )
default

Default constructor.

virtual grid_map::GridMapPclConverter::~GridMapPclConverter ( )
virtualdefault

Destructor.

Member Function Documentation

bool grid_map::GridMapPclConverter::addLayerFromPolygonMesh ( const pcl::PolygonMesh &  mesh,
const std::string &  layer,
grid_map::GridMap gridMap 
)
static

Adds a layer with data from a polygon mesh. The mesh is ray traced from above (negative z-Direction).

Parameters
[in]meshthe mesh to be added. It can only consist of triangles!
[in]layerthe layer that is filled with the mesh data.
[out]gridMapthe grid map to be populated.
Returns
true if successful, false otherwise.

Definition at line 27 of file GridMapPclConverter.cpp.

bool grid_map::GridMapPclConverter::initializeFromPolygonMesh ( const pcl::PolygonMesh &  mesh,
const double  resolution,
grid_map::GridMap gridMap 
)
static

Initializes the geometry of a grid map from a polygon mesh. This changes the geometry of the map and deletes all contents of the layers!

Parameters
[in]meshthe mesh.
[in]resolutionthe desired resolution of the grid map [m/cell].
[out]gridMapthe grid map to be initialized.
Returns
true if successful, false otherwise.

Definition at line 13 of file GridMapPclConverter.cpp.

bool grid_map::GridMapPclConverter::rayTriangleIntersect ( const Eigen::Vector3f &  point,
const Eigen::Vector3f &  ray,
const Eigen::Matrix3f &  triangleVertices,
Eigen::Vector3f &  intersectionPoint 
)
staticprivate

Definition at line 83 of file GridMapPclConverter.cpp.


The documentation for this class was generated from the following files:


grid_map_pcl
Author(s): Dominic Jud , Edo Jelavic
autogenerated on Tue Jun 1 2021 02:13:43