grid_map::signed_distance_field::internal Namespace Reference

Classes
struct	DistanceLowerBound

Functions
void	computePixelDistance2dTranspose (Matrix &input, Matrix &distanceTranspose)
void	distanceTransform_1d_inplace (Eigen::Ref< Eigen::VectorXf > squareDistance1d, std::vector< DistanceLowerBound > &lowerBounds)
void	extractDistances (Eigen::Ref< Eigen::VectorXf > squareDistance1d, std::vector< DistanceLowerBound >::const_iterator lowerBoundIt, Eigen::Index start)
void	extractSquareDistances (Eigen::Ref< Eigen::VectorXf > squareDistance1d, std::vector< DistanceLowerBound >::const_iterator lowerBoundIt, Eigen::Index start)
std::vector< DistanceLowerBound >::iterator	fillLowerBounds (const Eigen::Ref< Eigen::VectorXf > &squareDistance1d, std::vector< DistanceLowerBound > &lowerBounds, Eigen::Index start)
void	initializeObstacleDistance (const Matrix &elevationMap, Matrix &result, float height, float resolution)
void	initializeObstacleFreeDistance (const Matrix &elevationMap, Matrix &result, float height, float resolution)
float	intersectionOffsetFromOrigin (float p, float fp)
float	intersectionPointRightSideOfOrigin (float p, float fp)
Eigen::Index	lastZeroFromFront (const Eigen::Ref< Eigen::VectorXf > &squareDistance1d)
void	pixelDistanceToFreeSpaceTranspose (const Matrix &elevationMap, Matrix &sdfObstacleFree, Matrix &tmp, float height, float resolution)
void	pixelDistanceToObstacleTranspose (const Matrix &elevationMap, Matrix &sdfObstacleTranspose, Matrix &tmp, float height, float resolution)
Matrix	signedDistanceFromOccupancyTranspose (const Eigen::Matrix< bool, -1, -1 > &occupancyGrid, float resolution)
void	squaredDistanceTransform_1d_inplace (Eigen::Ref< Eigen::VectorXf > squareDistance1d, std::vector< DistanceLowerBound > &lowerBounds)

Function Documentation

computePixelDistance2dTranspose()

void grid_map::signed_distance_field::internal::computePixelDistance2dTranspose	(	Matrix &	input,
		Matrix &	distanceTranspose
	)

Definition at line 169 of file SignedDistance2d.cpp.

distanceTransform_1d_inplace()

void grid_map::signed_distance_field::internal::distanceTransform_1d_inplace ( Eigen::Ref< Eigen::VectorXf >  squareDistance1d, std::vector< DistanceLowerBound > &  lowerBounds  )

inline

Same as above, but takes sqrt as final step (within the same loop)

Parameters

squareDistance1d	: input as squared distance, output is the distance after sqrt.
lowerBounds	: work vector

Definition at line 159 of file SignedDistance2d.cpp.

extractDistances()

void grid_map::signed_distance_field::internal::extractDistances	(	Eigen::Ref< Eigen::VectorXf >	squareDistance1d,
		std::vector< DistanceLowerBound >::const_iterator	lowerBoundIt,
		Eigen::Index	start
	)

Same as extractSquareDistances, but takes the sqrt as a final step. Because several cells will have a value of 0.0 (obstacle / free space label), we can skip the sqrt computation for those.

Definition at line 100 of file SignedDistance2d.cpp.

extractSquareDistances()

void grid_map::signed_distance_field::internal::extractSquareDistances	(	Eigen::Ref< Eigen::VectorXf >	squareDistance1d,
		std::vector< DistanceLowerBound >::const_iterator	lowerBoundIt,
		Eigen::Index	start
	)

Definition at line 71 of file SignedDistance2d.cpp.

fillLowerBounds()

std::vector<DistanceLowerBound>::iterator grid_map::signed_distance_field::internal::fillLowerBounds	(	const Eigen::Ref< Eigen::VectorXf > &	squareDistance1d,
		std::vector< DistanceLowerBound > &	lowerBounds,
		Eigen::Index	start
	)

1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ Adapted to work on Eigen objects directly Optimized computation of s. Some optimization to not keep track of bounds that lie fully outside the grid.

Definition at line 30 of file SignedDistance2d.cpp.

initializeObstacleDistance()

void grid_map::signed_distance_field::internal::initializeObstacleDistance	(	const Matrix &	elevationMap,
		Matrix &	result,
		float	height,
		float	resolution
	)

Definition at line 190 of file SignedDistance2d.cpp.

initializeObstacleFreeDistance()

void grid_map::signed_distance_field::internal::initializeObstacleFreeDistance	(	const Matrix &	elevationMap,
		Matrix &	result,
		float	height,
		float	resolution
	)

Definition at line 203 of file SignedDistance2d.cpp.

intersectionOffsetFromOrigin()

float grid_map::signed_distance_field::internal::intersectionOffsetFromOrigin ( float  p, float  fp  )

inline

Return equidistancepoint between origin and pixel p with offset fp

Definition at line 73 of file PixelBorderDistance.hpp.

intersectionPointRightSideOfOrigin()

float grid_map::signed_distance_field::internal::intersectionPointRightSideOfOrigin ( float  p, float  fp  )

inline

Return equidistancepoint between origin and pixel p (with p > 0) with offset fp

Definition at line 43 of file PixelBorderDistance.hpp.

lastZeroFromFront()

Eigen::Index grid_map::signed_distance_field::internal::lastZeroFromFront

(

const Eigen::Ref< Eigen::VectorXf > &

squareDistance1d

)

Find the location of the last zero value from the front

Definition at line 128 of file SignedDistance2d.cpp.

pixelDistanceToFreeSpaceTranspose()

void grid_map::signed_distance_field::internal::pixelDistanceToFreeSpaceTranspose	(	const Matrix &	elevationMap,
		Matrix &	sdfObstacleFree,
		Matrix &	tmp,
		float	height,
		float	resolution
	)

Definition at line 215 of file SignedDistance2d.cpp.

pixelDistanceToObstacleTranspose()

void grid_map::signed_distance_field::internal::pixelDistanceToObstacleTranspose	(	const Matrix &	elevationMap,
		Matrix &	sdfObstacleTranspose,
		Matrix &	tmp,
		float	height,
		float	resolution
	)

Definition at line 220 of file SignedDistance2d.cpp.

signedDistanceFromOccupancyTranspose()

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

Definition at line 226 of file SignedDistance2d.cpp.

squaredDistanceTransform_1d_inplace()

void grid_map::signed_distance_field::internal::squaredDistanceTransform_1d_inplace ( Eigen::Ref< Eigen::VectorXf >  squareDistance1d, std::vector< DistanceLowerBound > &  lowerBounds  )

inline

Definition at line 143 of file SignedDistance2d.cpp.