Public Types | Public Member Functions | Protected Attributes | List of all members
jsk_footstep_planner::ANNGrid Class Reference

ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array. More...

#include <ann_grid.h>

Public Types

typedef cv::Point Index
 
typedef std::vector< IndexIndexArray
 
typedef boost::shared_ptr< ANNGridPtr
 

Public Member Functions

 ANNGrid (const double grid_size)
 
virtual void approximateSearch (const Eigen::Vector3f &v, pcl::PointIndices &indices)
 
virtual void approximateSearchInBox (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3, pcl::PointIndices &indices)
 
virtual IndexArray box (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
 
virtual IndexArray bresenham (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1)
 
virtual void build (const pcl::PointCloud< pcl::PointNormal > &cloud)
 
virtual IndexArray fill (const IndexArray &filled)
 
virtual IndexArray fillByBox (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
 
ANNGridCell::Ptr getCell (size_t i, size_t j)
 
virtual Index pointToIndex (const pcl::PointNormal &p) const
 
virtual Index pointToIndex (const Eigen::Vector3f &p) const
 
virtual void toImage (cv::Mat &mat)
 
virtual void toImage (cv::Mat &mat, const IndexArray &pixels)
 
virtual ~ANNGrid ()
 

Protected Attributes

std::vector< std::vector< ANNGridCell::Ptr > > cells_
 
const double grid_size_
 
cv::Mat mat_
 
Eigen::Vector3f min_point_
 

Detailed Description

ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array.

Definition at line 93 of file ann_grid.h.

Member Typedef Documentation

Definition at line 97 of file ann_grid.h.

Definition at line 98 of file ann_grid.h.

Definition at line 96 of file ann_grid.h.

Constructor & Destructor Documentation

jsk_footstep_planner::ANNGrid::ANNGrid ( const double  grid_size)
inline

Definition at line 99 of file ann_grid.h.

virtual jsk_footstep_planner::ANNGrid::~ANNGrid ( )
inlinevirtual

Definition at line 100 of file ann_grid.h.

Member Function Documentation

void jsk_footstep_planner::ANNGrid::approximateSearch ( const Eigen::Vector3f &  v,
pcl::PointIndices &  indices 
)
virtual

Definition at line 94 of file ann_grid.cpp.

void jsk_footstep_planner::ANNGrid::approximateSearchInBox ( const Eigen::Vector3f &  p0,
const Eigen::Vector3f &  p1,
const Eigen::Vector3f &  p2,
const Eigen::Vector3f &  p3,
pcl::PointIndices &  indices 
)
virtual

Definition at line 77 of file ann_grid.cpp.

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::box ( const Eigen::Vector3f &  p0,
const Eigen::Vector3f &  p1,
const Eigen::Vector3f &  p2,
const Eigen::Vector3f &  p3 
)
virtual

Definition at line 186 of file ann_grid.cpp.

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::bresenham ( const Eigen::Vector3f &  p0,
const Eigen::Vector3f &  p1 
)
virtual

Definition at line 101 of file ann_grid.cpp.

void jsk_footstep_planner::ANNGrid::build ( const pcl::PointCloud< pcl::PointNormal > &  cloud)
virtual

Definition at line 43 of file ann_grid.cpp.

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::fill ( const IndexArray filled)
virtual

Definition at line 161 of file ann_grid.cpp.

ANNGrid::IndexArray jsk_footstep_planner::ANNGrid::fillByBox ( const Eigen::Vector3f &  p0,
const Eigen::Vector3f &  p1,
const Eigen::Vector3f &  p2,
const Eigen::Vector3f &  p3 
)
virtual

Definition at line 145 of file ann_grid.cpp.

ANNGridCell::Ptr jsk_footstep_planner::ANNGrid::getCell ( size_t  i,
size_t  j 
)
inline

Definition at line 123 of file ann_grid.h.

virtual Index jsk_footstep_planner::ANNGrid::pointToIndex ( const pcl::PointNormal &  p) const
inlinevirtual

Definition at line 106 of file ann_grid.h.

virtual Index jsk_footstep_planner::ANNGrid::pointToIndex ( const Eigen::Vector3f &  p) const
inlinevirtual

Definition at line 115 of file ann_grid.h.

void jsk_footstep_planner::ANNGrid::toImage ( cv::Mat &  mat)
virtual

Definition at line 209 of file ann_grid.cpp.

void jsk_footstep_planner::ANNGrid::toImage ( cv::Mat &  mat,
const IndexArray pixels 
)
virtual

Definition at line 214 of file ann_grid.cpp.

Member Data Documentation

std::vector<std::vector<ANNGridCell::Ptr> > jsk_footstep_planner::ANNGrid::cells_
protected

Definition at line 158 of file ann_grid.h.

const double jsk_footstep_planner::ANNGrid::grid_size_
protected

Definition at line 157 of file ann_grid.h.

cv::Mat jsk_footstep_planner::ANNGrid::mat_
protected

Definition at line 159 of file ann_grid.h.

Eigen::Vector3f jsk_footstep_planner::ANNGrid::min_point_
protected

Definition at line 160 of file ann_grid.h.


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


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri May 14 2021 02:51:52