Costmap layer which inflates around existing lethal vertices. More...

#include <inflation_layer.h>

Inheritance diagram for mesh_layers::InflationLayer:

Private Member Functions
void	backToSource (const lvr2::VertexHandle &current_vertex, const lvr2::DenseVertexMap< lvr2::VertexHandle > &predecessors, lvr2::DenseVertexMap< lvr2::BaseVector< float >> &vector_map)
	adds vector pointing back to source of inflation source More...

virtual bool	computeLayer ()
	calculate the values of this layer More...

float	computeUpdateSethianMethod (const float &d1, const float &d2, const float &a, const float &b, const float &dot, const float &F)

virtual lvr2::VertexMap< float > &	costs ()
	deliver the current costmap More...

virtual float	defaultValue ()
	delivers the default layer value More...

float	fading (const float val)
	fade cost value based on lethal and inscribed area More...

virtual bool	initialize (const std::string &name)
	initializes this layer plugin More...

void	lethalCostInflation (const std::set< lvr2::VertexHandle > &lethals, const float inflation_radius, const float inscribed_radius, const float inscribed_value, const float lethal_value)
	inflate around lethal vertices by inflating to neighbours on mesh and using squared distances and assign riskiness values to vertices More...

virtual std::set< lvr2::VertexHandle > &	lethals ()
	deliver set containing all vertices marked as lethal More...

virtual bool	readLayer ()
	try read layer from map file More...

void	reconfigureCallback (mesh_layers::InflationLayerConfig &cfg, uint32_t level)
	callback for incoming reconfigure configs More...

virtual float	threshold ()
	delivers the threshold above which vertices are marked lethal More...

virtual void	updateLethal (std::set< lvr2::VertexHandle > &added_lethal, std::set< lvr2::VertexHandle > &removed_lethal)
	update set of lethal vertices by adding and removing vertices More...

lvr2::BaseVector< float >	vectorAt (const lvr2::VertexHandle &vertex)
	returns the repulsive vector at a given vertex More...

lvr2::BaseVector< float >	vectorAt (const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)
	returns repulsive vector at a given position inside a face More...

const boost::optional< lvr2::VertexMap< lvr2::BaseVector< float > > & >	vectorMap ()
	delivers the current repulsive vectorfield More...

void	waveCostInflation (const std::set< lvr2::VertexHandle > &lethals, const float inflation_radius, const float inscribed_radius, const float inscribed_value, const float lethal_value)
	inflate around lethal vertices by using an wave front propagation and assign riskiness values to vertices More...

bool	waveFrontUpdate (lvr2::DenseVertexMap< float > &distances, lvr2::DenseVertexMap< lvr2::VertexHandle > &predecessors, const float &max_distance, const lvr2::DenseEdgeMap< float > &edge_weights, const lvr2::FaceHandle &fh, const lvr2::BaseVector< float > &normal, const lvr2::VertexHandle &v1, const lvr2::VertexHandle &v2, const lvr2::VertexHandle &v3)
	updates the wavefront More...

virtual bool	writeLayer ()
	try to write layer to map file More...

Private Attributes
InflationLayerConfig	config

dynamic_reconfigure::Server< mesh_layers::InflationLayerConfig >::CallbackType	config_callback

lvr2::DenseVertexMap< lvr2::FaceHandle >	cutting_faces

lvr2::DenseVertexMap< float >	direction

lvr2::DenseVertexMap< float >	distances

bool	first_config

std::set< lvr2::VertexHandle >	lethal_vertices

boost::shared_ptr< dynamic_reconfigure::Server< mesh_layers::InflationLayerConfig > >	reconfigure_server_ptr

lvr2::DenseVertexMap< float >	riskiness

lvr2::DenseVertexMap< lvr2::BaseVector< float > >	vector_map

Additional Inherited Members
Public Types inherited from mesh_map::AbstractLayer
typedef boost::shared_ptr< mesh_map::AbstractLayer >	Ptr

Public Member Functions inherited from mesh_map::AbstractLayer
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)

void	notifyChange ()

Protected Attributes inherited from mesh_map::AbstractLayer
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

Detailed Description

Costmap layer which inflates around existing lethal vertices.

Definition at line 52 of file inflation_layer.h.

Member Function Documentation

◆ backToSource()

void mesh_layers::InflationLayer::backToSource	(	const lvr2::VertexHandle &	current_vertex,
		const lvr2::DenseVertexMap< lvr2::VertexHandle > &	predecessors,
		lvr2::DenseVertexMap< lvr2::BaseVector< float >> &	vector_map
	)

private

adds vector pointing back to source of inflation source

Parameters

	current_vertex	vertex to calculate vector for
	predecessors	current predecessor map
[out]	vector_map	resulting vectorfield

Definition at line 493 of file inflation_layer.cpp.

◆ computeLayer()

bool mesh_layers::InflationLayer::computeLayer ( )

privatevirtual

calculate the values of this layer

Returns: true if successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 611 of file inflation_layer.cpp.

◆ computeUpdateSethianMethod()

float mesh_layers::InflationLayer::computeUpdateSethianMethod	(	const float &	d1,
		const float &	d2,
		const float &	a,
		const float &	b,
		const float &	dot,
		const float &	F
	)

inlineprivate

Definition at line 105 of file inflation_layer.cpp.

◆ costs()

lvr2::VertexMap< float > & mesh_layers::InflationLayer::costs ( )

privatevirtual

deliver the current costmap

Returns: calculated costmap

Implements mesh_map::AbstractLayer.

Definition at line 624 of file inflation_layer.cpp.

◆ defaultValue()

virtual float mesh_layers::InflationLayer::defaultValue ( )

inlineprivatevirtual

delivers the default layer value

Returns: default value used for this layer

Implements mesh_map::AbstractLayer.

Definition at line 73 of file inflation_layer.h.

◆ fading()

float mesh_layers::InflationLayer::fading ( const float val )

private

fade cost value based on lethal and inscribed area

Parameters

val	input cost value

Returns: resulting cost value

Definition at line 235 of file inflation_layer.cpp.

◆ initialize()

bool mesh_layers::InflationLayer::initialize ( const std::string & name )

privatevirtual

initializes this layer plugin

Parameters

name	name of this plugin

Returns: true if initialization was successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 667 of file inflation_layer.cpp.

◆ lethalCostInflation()

void mesh_layers::InflationLayer::lethalCostInflation	(	const std::set< lvr2::VertexHandle > &	lethals,
		const float	inflation_radius,
		const float	inscribed_radius,
		const float	inscribed_value,
		const float	lethal_value
	)

private

inflate around lethal vertices by inflating to neighbours on mesh and using squared distances and assign riskiness values to vertices

Parameters

lethals	set of current lethal vertices
inflation_radius	radius of the inflation
inscribed_radius	radius of the inscribed area
inscribed_value	value assigned to vertices in inscribed area
lethal_value	value assigned to lethal vertices

Definition at line 515 of file inflation_layer.cpp.

◆ lethals()

virtual std::set<lvr2::VertexHandle>& mesh_layers::InflationLayer::lethals ( )

inlineprivatevirtual

deliver set containing all vertices marked as lethal

Returns: lethal vertices

Implements mesh_map::AbstractLayer.

Definition at line 203 of file inflation_layer.h.

◆ readLayer()

bool mesh_layers::InflationLayer::readLayer ( )

privatevirtual

try read layer from map file

Returns: true if successul; else false

Implements mesh_map::AbstractLayer.

Definition at line 49 of file inflation_layer.cpp.

◆ reconfigureCallback()

void mesh_layers::InflationLayer::reconfigureCallback	(	mesh_layers::InflationLayerConfig &	cfg,
		uint32_t	level
	)

private

callback for incoming reconfigure configs

Parameters

cfg	new config
level	level

Definition at line 629 of file inflation_layer.cpp.

◆ threshold()

float mesh_layers::InflationLayer::threshold ( )

privatevirtual

delivers the threshold above which vertices are marked lethal

Returns: lethal threshold

Implements mesh_map::AbstractLayer.

Definition at line 83 of file inflation_layer.cpp.

◆ updateLethal()

void mesh_layers::InflationLayer::updateLethal	(	std::set< lvr2::VertexHandle > &	added_lethal,
		std::set< lvr2::VertexHandle > &	removed_lethal
	)

privatevirtual

update set of lethal vertices by adding and removing vertices

Parameters

added_lethal	vertices to be marked as lethal
removed_lethal	vertices to be removed from the set of lethal vertices

Implements mesh_map::AbstractLayer.

Definition at line 88 of file inflation_layer.cpp.

◆ vectorAt() [1/2]

lvr2::BaseVector< float > mesh_layers::InflationLayer::vectorAt ( const lvr2::VertexHandle & vertex )

privatevirtual

returns the repulsive vector at a given vertex

Parameters

vertex requested vertex

Returns: vector of vectorfield at requested vertex

Reimplemented from mesh_map::AbstractLayer.

Definition at line 453 of file inflation_layer.cpp.

◆ vectorAt() [2/2]

lvr2::BaseVector< float > mesh_layers::InflationLayer::vectorAt	(	const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const std::array< float, 3 > &	barycentric_coords
	)

privatevirtual

returns repulsive vector at a given position inside a face

Parameters

vertices	vertices of the face
barycentric_coords	barycentric coordinates of the requested point inside the face

Returns: vector of the current vectorfield

Reimplemented from mesh_map::AbstractLayer.

Definition at line 423 of file inflation_layer.cpp.

◆ vectorMap()

const boost::optional<lvr2::VertexMap<lvr2::BaseVector<float> >&> mesh_layers::InflationLayer::vectorMap ( )

inlineprivatevirtual

delivers the current repulsive vectorfield

Returns: repulsive vectorfield

Reimplemented from mesh_map::AbstractLayer.

Definition at line 168 of file inflation_layer.h.

◆ waveCostInflation()

void mesh_layers::InflationLayer::waveCostInflation	(	const std::set< lvr2::VertexHandle > &	lethals,
		const float	inflation_radius,
		const float	inscribed_radius,
		const float	inscribed_value,
		const float	lethal_value
	)

private

inflate around lethal vertices by using an wave front propagation and assign riskiness values to vertices

Parameters

lethals	set of current lethal vertices
inflation_radius	radius of inflation
inscribed_radius	rarius of inscribed area
inscribed_value	value assigned to inscribed vertices
lethal_value	value of lethal vertices

Definition at line 255 of file inflation_layer.cpp.

◆ waveFrontUpdate()

bool mesh_layers::InflationLayer::waveFrontUpdate	(	lvr2::DenseVertexMap< float > &	distances,
		lvr2::DenseVertexMap< lvr2::VertexHandle > &	predecessors,
		const float &	max_distance,
		const lvr2::DenseEdgeMap< float > &	edge_weights,
		const lvr2::FaceHandle &	fh,
		const lvr2::BaseVector< float > &	normal,
		const lvr2::VertexHandle &	v1,
		const lvr2::VertexHandle &	v2,
		const lvr2::VertexHandle &	v3
	)

inlineprivate

updates the wavefront

Parameters

distances	current distances from the start vertices
predecessors	current predecessors of vertices visited during the wave front propagation
max_distance	max distance of propagation
edge_weights	weights of the edges
fh	current face
normal	normal of the current face
v1	first vertex of the current face
v2	second vertex of the current face
v3	third vertex of the current face

Returns: true if successful; else false

Definition at line 157 of file inflation_layer.cpp.

◆ writeLayer()

bool mesh_layers::InflationLayer::writeLayer ( )

privatevirtual

try to write layer to map file

Returns: true if successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 67 of file inflation_layer.cpp.

Member Data Documentation

◆ config

InflationLayerConfig mesh_layers::InflationLayer::config

private

Definition at line 243 of file inflation_layer.h.

◆ config_callback

dynamic_reconfigure::Server<mesh_layers::InflationLayerConfig>::CallbackType mesh_layers::InflationLayer::config_callback

private

Definition at line 239 of file inflation_layer.h.

◆ cutting_faces

lvr2::DenseVertexMap<lvr2::FaceHandle> mesh_layers::InflationLayer::cutting_faces

private

Definition at line 229 of file inflation_layer.h.

◆ direction

lvr2::DenseVertexMap<float> mesh_layers::InflationLayer::direction

private

Definition at line 227 of file inflation_layer.h.

◆ distances

lvr2::DenseVertexMap<float> mesh_layers::InflationLayer::distances

private

Definition at line 233 of file inflation_layer.h.

◆ first_config

bool mesh_layers::InflationLayer::first_config

private

Definition at line 241 of file inflation_layer.h.

◆ lethal_vertices

std::set<lvr2::VertexHandle> mesh_layers::InflationLayer::lethal_vertices

private

Definition at line 235 of file inflation_layer.h.

◆ reconfigure_server_ptr

boost::shared_ptr<dynamic_reconfigure::Server<mesh_layers::InflationLayerConfig> > mesh_layers::InflationLayer::reconfigure_server_ptr

private

Definition at line 238 of file inflation_layer.h.

◆ riskiness

lvr2::DenseVertexMap<float> mesh_layers::InflationLayer::riskiness

private

Definition at line 225 of file inflation_layer.h.

◆ vector_map

lvr2::DenseVertexMap<lvr2::BaseVector<float> > mesh_layers::InflationLayer::vector_map

private

Definition at line 231 of file inflation_layer.h.

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

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ backToSource()

◆ computeLayer()

◆ computeUpdateSethianMethod()

◆ costs()

◆ defaultValue()

◆ fading()

◆ initialize()

◆ lethalCostInflation()

◆ lethals()

◆ readLayer()

◆ reconfigureCallback()

◆ threshold()

◆ updateLethal()

◆ vectorAt() [1/2]

◆ vectorAt() [2/2]

◆ vectorMap()

◆ waveCostInflation()

◆ waveFrontUpdate()

◆ writeLayer()

Member Data Documentation

◆ config

◆ config_callback

◆ cutting_faces

◆ direction

◆ distances

◆ first_config

◆ lethal_vertices

◆ reconfigure_server_ptr

◆ riskiness

◆ vector_map