grid_map::signed_distance_field Namespace Reference

Namespaces
	internal

Classes
struct	Gridmap3dLookup

Functions
void	columnwiseCentralDifference (const Matrix &data, Matrix &centralDifference, float resolution)
float	equidistancePoint (float q, float fq, float p, float fp)
bool	isEqualSdf (const Matrix &sdf0, const Matrix &sdf1, float tol)
void	layerCentralDifference (const Matrix &data_km1, const Matrix &data_kp1, Matrix &result, float resolution)
void	layerFiniteDifference (const Matrix &data_k, const Matrix &data_kp1, Matrix &result, float resolution)
Matrix	naiveSignedDistanceAtHeight (const Matrix &elevationMap, float height, float resolution)
Matrix	naiveSignedDistanceFromOccupancy (const Eigen::Matrix< bool, -1, -1 > &occupancyGrid, float resolution)
Eigen::Matrix< bool, -1, -1 >	occupancyAtHeight (const Matrix &elevationMap, float height)
float	pixelBorderDistance (float i, float j)
Matrix	signedDistanceAtHeight (const Matrix &elevationMap, float height, float resolution, float minHeight, float maxHeight)
void	signedDistanceAtHeightTranspose (const Matrix &elevationMap, Matrix &sdfTranspose, Matrix &tmp, Matrix &tmpTranspose, float height, float resolution, float minHeight, float maxHeight)
Matrix	signedDistanceFromOccupancy (const Eigen::Matrix< bool, -1, -1 > &occupancyGrid, float resolution)
float	squarePixelBorderDistance (float i, float j, float f)

Variables
constexpr float	INF = std::numeric_limits<float>::infinity()
	Distance value that is considered infinite. More...

Function Documentation

columnwiseCentralDifference()

void grid_map::signed_distance_field::columnwiseCentralDifference ( const Matrix &  data, Matrix &  centralDifference, float  resolution  )

inline

Takes the columnwise central difference of a matrix. Uses single sided difference at the boundaries. diff = (col(i+1) - col(i-1)) / (2 * resolution)

Parameters

data	[in] : data to take the difference of.
centralDifference	[out] : matrix to store the result in.
resolution	[in] : scaling of the distance between two columns.

Definition at line 24 of file DistanceDerivatives.hpp.

equidistancePoint()

float grid_map::signed_distance_field::equidistancePoint ( float  q, float  fq, float  p, float  fp  )

inline

Return the point s in pixel space that is equally far from p and q (taking into account offsets fp, and fq) It is the solution to the following equation: squarePixelBorderDistance(s, q, fq) == squarePixelBorderDistance(s, p, fp)

Definition at line 89 of file PixelBorderDistance.hpp.

isEqualSdf()

bool grid_map::signed_distance_field::isEqualSdf ( const Matrix &  sdf0, const Matrix &  sdf1, float  tol  )

inline

Definition at line 19 of file naiveSignedDistance.hpp.

layerCentralDifference()

void grid_map::signed_distance_field::layerCentralDifference ( const Matrix &  data_km1, const Matrix &  data_kp1, Matrix &  result, float  resolution  )

inline

Takes the central difference between layers result = (data_{k+1} - data{k-1}) / (2.0 * resolution)

Definition at line 56 of file DistanceDerivatives.hpp.

layerFiniteDifference()

void grid_map::signed_distance_field::layerFiniteDifference ( const Matrix &  data_k, const Matrix &  data_kp1, Matrix &  result, float  resolution  )

inline

Takes the finite difference between layers result = (data_{k+1} - data{k}) / resolution

Definition at line 47 of file DistanceDerivatives.hpp.

naiveSignedDistanceAtHeight()

Matrix grid_map::signed_distance_field::naiveSignedDistanceAtHeight ( const Matrix &  elevationMap, float  height, float  resolution  )

inline

Definition at line 37 of file naiveSignedDistance.hpp.

naiveSignedDistanceFromOccupancy()

Matrix grid_map::signed_distance_field::naiveSignedDistanceFromOccupancy ( const Eigen::Matrix< bool, -1, -1 > &  occupancyGrid, float  resolution  )

inline

Definition at line 76 of file naiveSignedDistance.hpp.

occupancyAtHeight()

Eigen::Matrix<bool, -1, -1> grid_map::signed_distance_field::occupancyAtHeight ( const Matrix &  elevationMap, float  height  )

inline

Definition at line 14 of file naiveSignedDistance.hpp.

pixelBorderDistance()

float grid_map::signed_distance_field::pixelBorderDistance ( float  i, float  j  )

inline

Returns distance between the center of a pixel and the border of an other pixel. Returns zero if the center is inside the other pixel. Pixels are assumed to have size 1.0F

Parameters

i	: location of pixel 1
j	: location of pixel 2

Returns

: absolute distance between center of pixel 1 and the border of pixel 2

Definition at line 26 of file PixelBorderDistance.hpp.

signedDistanceAtHeight()

Matrix grid_map::signed_distance_field::signedDistanceAtHeight	(	const Matrix &	elevationMap,
		float	height,
		float	resolution,
		float	minHeight,
		float	maxHeight
	)

Computes the signed distance field at a specified height for a given elevation map.

Parameters

elevationMap	: elevation data.
height	: height to generate the signed distance at.
resolution	: resolution of the elevation map. (The true distance [m] between cells in world frame)
minHeight	: the lowest height contained in elevationMap
maxHeight	: the maximum height contained in elevationMap

Returns

The signed distance field at the query height.

Definition at line 263 of file SignedDistance2d.cpp.

signedDistanceAtHeightTranspose()

void grid_map::signed_distance_field::signedDistanceAtHeightTranspose	(	const Matrix &	elevationMap,
		Matrix &	sdfTranspose,
		Matrix &	tmp,
		Matrix &	tmpTranspose,
		float	height,
		float	resolution,
		float	minHeight,
		float	maxHeight
	)

Same as above, but returns the sdf in transposed form. Also takes temporary variables from outside to prevent memory allocation.

Parameters

elevationMap	: elevation data.
sdfTranspose	: [output] resulting sdf in transposed form (automatically allocated if of wrong size)
tmp	: temporary of size elevationMap (automatically allocated if of wrong size)
tmpTranspose	: temporary of size elevationMap transpose (automatically allocated if of wrong size)
height	: height to generate the signed distance at.
resolution	: resolution of the elevation map. (The true distance [m] between cells in world frame)
minHeight	: the lowest height contained in elevationMap
maxHeight	: the maximum height contained in elevationMap

Definition at line 242 of file SignedDistance2d.cpp.

signedDistanceFromOccupancy()

Matrix grid_map::signed_distance_field::signedDistanceFromOccupancy	(	const Eigen::Matrix< bool, -1, -1 > &	occupancyGrid,
		float	resolution
	)

Gets the 2D signed distance from an occupancy grid. Returns +INF if there are no obstacles, and -INF if there are only obstacles

Parameters

occupancyGrid	: occupancy grid with true = obstacle, false = free space
resolution	: resolution of the grid.

Returns

signed distance for each point in the grid to the occupancy border.

Definition at line 272 of file SignedDistance2d.cpp.

squarePixelBorderDistance()

float grid_map::signed_distance_field::squarePixelBorderDistance ( float  i, float  j, float  f  )

inline

Returns square pixelBorderDistance, adding offset f.

Definition at line 33 of file PixelBorderDistance.hpp.

Variable Documentation

INF

constexpr float grid_map::signed_distance_field::INF = std::numeric_limits<float>::infinity()

Distance value that is considered infinite.

Definition at line 18 of file Utils.hpp.