#include <abstract_layer.h>

Public Types
typedef boost::shared_ptr< mesh_map::AbstractLayer >	Ptr

Public Member Functions
virtual bool	computeLayer ()=0
	Function which is called to compute the layer costs. It is called if the layer information could not be loaded or if another layer triggered an update. More...

virtual lvr2::VertexMap< float > &	costs ()=0
	Returns a vertex map, which associates a cost to each vertex handle. If a vertex handle is not associated with a cost value, i.e. there is no value in the map, the mesh_map will use the default value from threshold(). More...

virtual float	defaultValue ()=0
	Defines the default value for all vertex costs which are not set in the layer. More...

virtual bool	initialize (const std::string &name)=0
	Initializes the layer plugin with the giben name. More...

virtual bool	initialize (const std::string &name, const notify_func notify_update, std::shared_ptr< mesh_map::MeshMap > &map, std::shared_ptr< lvr2::HalfEdgeMesh< Vector >> &mesh, std::shared_ptr< lvr2::AttributeMeshIOBase > &io)
	Initializes the layer plugin under the mesh_map namespace ans sets some basic attributes. More...

virtual std::set< lvr2::VertexHandle > &	lethals ()=0
	Returns a set of vertex handles which are associated with "lethal" obstacles. More...

void	notifyChange ()

virtual bool	readLayer ()=0
	reads the layer data, e.g. from a file, or a database More...

virtual float	threshold ()=0
	Defines the threshold value to consider vertices as a "lethal" obstacle. All vertices with cost values in the layer which a greater than the threshold value are marked as "lethal obstacle". More...

virtual void	updateLethal (std::set< lvr2::VertexHandle > &added_lethal, std::set< lvr2::VertexHandle > &removed_lethal)=0
	Called by the mesh map if another previously processed layer triggers an update. More...

virtual lvr2::BaseVector< float >	vectorAt (const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)
	Optional method if the layer computes vectors. Computes a vector within a triangle using barycentric coordinates. More...

virtual lvr2::BaseVector< float >	vectorAt (const lvr2::VertexHandle &vertex)
	Optional method if the layer computes vectors. Computes a vector for a given vertex handle. More...

virtual const boost::optional< lvr2::VertexMap< lvr2::BaseVector< float > > & >	vectorMap ()
	Optional vector map. Can be implemented if the layer should also compute vectors. If the implmented layer computes a vector field, this method is used to inject the vector field into the mesh map. More...

virtual bool	writeLayer ()=0
	Writes the layer data, e.g. to a file, or a database. More...

Protected Attributes
std::string	layer_name

std::shared_ptr< mesh_map::MeshMap >	map_ptr

std::shared_ptr< lvr2::AttributeMeshIOBase >	mesh_io_ptr

std::shared_ptr< lvr2::HalfEdgeMesh< Vector > >	mesh_ptr

ros::NodeHandle	private_nh

Private Attributes
notify_func	notify

Detailed Description

Definition at line 56 of file abstract_layer.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<mesh_map::AbstractLayer> mesh_map::AbstractLayer::Ptr

Definition at line 59 of file abstract_layer.h.

Member Function Documentation

◆ computeLayer()

virtual bool mesh_map::AbstractLayer::computeLayer ( )

pure virtual

Function which is called to compute the layer costs. It is called if the layer information could not be loaded or if another layer triggered an update.

Returns: true, if the layer costs have been computed successfully.

◆ costs()

virtual lvr2::VertexMap<float>& mesh_map::AbstractLayer::costs ( )

pure virtual

Returns a vertex map, which associates a cost to each vertex handle. If a vertex handle is not associated with a cost value, i.e. there is no value in the map, the mesh_map will use the default value from threshold().

Returns: a vertex map containing floats.

◆ defaultValue()

virtual float mesh_map::AbstractLayer::defaultValue ( )

pure virtual

Defines the default value for all vertex costs which are not set in the layer.

Returns: The default layer cost value, e.g. nan, 0, or -1, etc.

◆ initialize() [1/2]

virtual bool mesh_map::AbstractLayer::initialize ( const std::string & name )

pure virtual

Initializes the layer plugin with the giben name.

◆ initialize() [2/2]

virtual bool mesh_map::AbstractLayer::initialize	(	const std::string &	name,
		const notify_func	notify_update,
		std::shared_ptr< mesh_map::MeshMap > &	map,
		std::shared_ptr< lvr2::HalfEdgeMesh< Vector >> &	mesh,
		std::shared_ptr< lvr2::AttributeMeshIOBase > &	io
	)

inlinevirtual

Initializes the layer plugin under the mesh_map namespace ans sets some basic attributes.

Definition at line 156 of file abstract_layer.h.

◆ lethals()

virtual std::set<lvr2::VertexHandle>& mesh_map::AbstractLayer::lethals ( )

pure virtual

Returns a set of vertex handles which are associated with "lethal" obstacles.

Returns: set of vertex handles which are associated with lethal obstalces.

◆ notifyChange()

void mesh_map::AbstractLayer::notifyChange ( )

inline

Definition at line 169 of file abstract_layer.h.

◆ readLayer()

virtual bool mesh_map::AbstractLayer::readLayer ( )

pure virtual

reads the layer data, e.g. from a file, or a database

Returns: true, if the layer data has been read successfully

◆ threshold()

virtual float mesh_map::AbstractLayer::threshold ( )

pure virtual

Defines the threshold value to consider vertices as a "lethal" obstacle. All vertices with cost values in the layer which a greater than the threshold value are marked as "lethal obstacle".

Returns

◆ updateLethal()

virtual void mesh_map::AbstractLayer::updateLethal	(	std::set< lvr2::VertexHandle > &	added_lethal,
		std::set< lvr2::VertexHandle > &	removed_lethal
	)

pure virtual

Called by the mesh map if another previously processed layer triggers an update.

Parameters

added_lethal	The "lethal" obstacle vertex handles which are new with respect to the previous call.
removed_lethal	Old "lethal" obstacle vertex handles, i.e. vertices which are no "lethal" obstacles anymore.

◆ vectorAt() [1/2]

virtual lvr2::BaseVector<float> mesh_map::AbstractLayer::vectorAt	(	const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const std::array< float, 3 > &	barycentric_coords
	)

inlinevirtual

Optional method if the layer computes vectors. Computes a vector within a triangle using barycentric coordinates.

Parameters

vertices	The three triangle vertices.
barycentric_coords	The thee barycentric coordinates.

Returns: The vector for the given barycentric coordinates with respect to the corresponding triangle. Default is an vertex with length 0.

Definition at line 122 of file abstract_layer.h.

◆ vectorAt() [2/2]

virtual lvr2::BaseVector<float> mesh_map::AbstractLayer::vectorAt ( const lvr2::VertexHandle & vertex )

inlinevirtual

Optional method if the layer computes vectors. Computes a vector for a given vertex handle.

Returns: a vector for the given vertex. Default is an vertex with length 0.

Definition at line 143 of file abstract_layer.h.

◆ vectorMap()

virtual const boost::optional<lvr2::VertexMap<lvr2::BaseVector<float> >&> mesh_map::AbstractLayer::vectorMap ( )

inlinevirtual

Optional vector map. Can be implemented if the layer should also compute vectors. If the implmented layer computes a vector field, this method is used to inject the vector field into the mesh map.

Returns: an optional vector map.

Definition at line 134 of file abstract_layer.h.

◆ writeLayer()

virtual bool mesh_map::AbstractLayer::writeLayer ( )

pure virtual

Writes the layer data, e.g. to a file, or a database.

Returns: true, if the layer data has been written successfully

Member Data Documentation

◆ layer_name

std::string mesh_map::AbstractLayer::layer_name

protected

Definition at line 175 of file abstract_layer.h.

◆ map_ptr

std::shared_ptr<mesh_map::MeshMap> mesh_map::AbstractLayer::map_ptr

protected

Definition at line 178 of file abstract_layer.h.

◆ mesh_io_ptr

std::shared_ptr<lvr2::AttributeMeshIOBase> mesh_map::AbstractLayer::mesh_io_ptr

protected

Definition at line 176 of file abstract_layer.h.

◆ mesh_ptr

std::shared_ptr<lvr2::HalfEdgeMesh<Vector> > mesh_map::AbstractLayer::mesh_ptr

protected

Definition at line 177 of file abstract_layer.h.

◆ notify

notify_func mesh_map::AbstractLayer::notify

private

Definition at line 183 of file abstract_layer.h.

◆ private_nh

ros::NodeHandle mesh_map::AbstractLayer::private_nh

protected

Definition at line 180 of file abstract_layer.h.

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

abstract_layer.h

Public Types

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Member Function Documentation

◆ computeLayer()

◆ costs()

◆ defaultValue()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ lethals()

◆ notifyChange()

◆ readLayer()

◆ threshold()

◆ updateLethal()

◆ vectorAt() [1/2]

◆ vectorAt() [2/2]

◆ vectorMap()

◆ writeLayer()

Member Data Documentation

◆ layer_name

◆ map_ptr

◆ mesh_io_ptr

◆ mesh_ptr

◆ notify

◆ private_nh