This class manages a set of bodies in space and is able to test point(cloud)s against this set, whether the points are inside the set, shadowed by the set when viewed from a given sensor, or clipped by the given sensor clipping distance. More...

#include <RayCastingShapeMask.h>

Inheritance diagram for robot_body_filter::RayCastingShapeMask:

[legend]

Classes
struct	RayCastingShapeMaskPIMPL

Public Types
enum	MaskValue : std::uint8_t { MaskValue::INSIDE = 0, MaskValue::OUTSIDE = 1, MaskValue::CLIP = 2, MaskValue::SHADOW = 3 }

Public Member Functions
MultiShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double containsScale, double containsPadding, double shadowScale, double shadowPadding, double bsphereScale, double bspherePadding, double bboxScale, double bboxPadding, bool updateInternalStructures=true, const std::string &name="")
	Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed. More...

MultiShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0, bool updateInternalStructures=true, const std::string &name="")
	Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodies () const
	Provides the map of shape handle to corresponding body (for all added shapes). More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForBoundingBox () const
	Provides the map of shape handle to corresponding body for shapes that should be used in bounding box computation. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForBoundingSphere () const
	Provides the map of shape handle to corresponding body for shapes that should be used in bounding sphere computation. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForContainsTest () const
	Provides the map of shape handle to corresponding body for shapes that should be used in contains tests. More...

std::map< point_containment_filter::ShapeHandle, const bodies::Body * >	getBodiesForShadowTest () const
	Provides the map of shape handle to corresponding body for shapes that should be used in shadow testing. More...

bodies::BoundingSphere	getBoundingSphere () const
	Get the bounding sphere containing all registered shapes. More...

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere >	getBoundingSpheres () const
	Get the map of bounding spheres of all registered shapes. More...

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere >	getBoundingSpheresForContainsTest () const
	Get the map of bounding spheres of all registered shapes that are used for testing INSIDE points. More...

void	maskContainmentAndShadows (const Cloud &data, std::vector< MaskValue > &mask, const Eigen::Vector3d &sensorPos=Eigen::Vector3d::Zero())
	Decide whether the points in data are either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

void	maskContainmentAndShadows (const Eigen::Vector3f &data, MaskValue &mask, const Eigen::Vector3d &sensorPos=Eigen::Vector3d::Zero(), bool updateBodyPoses=true)
	Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

	RayCastingShapeMask (const TransformCallback &transformCallback, double minSensorDist=0.0, double maxSensorDist=1e10, bool doClipping=true, bool doContainsTest=true, bool doShadowTest=true, double maxShadowDist=-1.0)

void	removeShape (const MultiShapeHandle &handle, bool updateInternalStructures=true)
	Remove the shape identified by the given handle from the filtering mask. More...

void	setIgnoreInContainsTest (std::unordered_set< MultiShapeHandle > ignoreInContainsTest, bool updateInternalStructures=true)
	Set the shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows. More...

void	setIgnoreInShadowTest (std::unordered_set< MultiShapeHandle > ignoreInShadowTest, bool updateInternalStructures=true)
	Set the shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows. More...

void	setTransformCallback (const TransformCallback &transform_callback)
	Set the callback which is called whenever a pose of a body needs to be updated. More...

void	updateBodyPoses ()
	Update the poses of bodies and recompute corresponding bounding spheres. More...

void	updateInternalShapeLists ()
	Update internal structures. Should be called whenever a shape is added, removed or ignored. By default, it is called automatically by the methods that affect the list of shapes. However, for efficiency, the caller can tell these methods to not update the shape lists and call this when a batch operation is finished. More...

virtual	~RayCastingShapeMask ()

Protected Member Functions
void	classifyPointNoLock (const Eigen::Vector3d &data, MaskValue &mask, const Eigen::Vector3d &sensorPos)
	Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE. More...

bodies::BoundingSphere	getBoundingSphereForContainsTestNoLock () const
	Get the bounding sphere containing all shapes that are to be used in the contains test. More...

bodies::BoundingSphere	getBoundingSphereNoLock () const
	Get the bounding sphere containing all registered shapes. More...

void	updateBodyPosesNoLock ()
	Update the poses of bodies_ and recompute corresponding bspheres_ and boundingBoxes. More...

Protected Member Functions inherited from point_containment_filter::ShapeMask
ShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0)

int	getMaskContainment (const Eigen::Vector3d &pt) const

int	getMaskContainment (double x, double y, double z) const

void	maskContainment (const sensor_msgs::PointCloud2 &data_in, const Eigen::Vector3d &sensor_pos, const double min_sensor_dist, const double max_sensor_dist, std::vector< int > &mask)

void	removeShape (ShapeHandle handle)

void	setTransformCallback (const TransformCallback &transform_callback)

	ShapeMask (const TransformCallback &transform_callback=TransformCallback())

virtual	~ShapeMask ()

Protected Attributes
std::vector< size_t >	bspheresBodyIndices
	Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheres_. Indices in this vector correspond to indices in bspheres_. Values of this vector correspond to indices in bodies_. More...

std::vector< bodies::BoundingSphere >	bspheresForContainsTest
	Bounding spheres to be used for classifying INSIDE points. More...

std::vector< size_t >	bspheresForContainsTestBodyIndices
	Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheresForContainsTest. Indices in this vector correspond to indices in bspheresForContainsTest. Values of this vector correspond to indices in bodies_. More...

std::unique_ptr< RayCastingShapeMaskPIMPL >	data
	Implementation-private data. More...

bool	doClipping = true
	Classify for CLIP during masking. More...

bool	doContainsTest = true
	Classify for INSIDE during masking. More...

bool	doShadowTest = true
	Classify for SHADOW during masking. More...

std::unordered_set< MultiShapeHandle >	ignoreInBbox
	Shapes to be ignored when computing the robot's bounding box. More...

std::unordered_set< MultiShapeHandle >	ignoreInBsphere
	Shapes to be ignored when computing the robot's bounding sphere. More...

std::unordered_set< MultiShapeHandle >	ignoreInContainsTest
	Shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows. More...

std::unordered_set< MultiShapeHandle >	ignoreInShadowTest
	Shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows. E.g. the sensor collision shape should be listed here. More...

double	maxSensorDist
	Maximum sensing distance of the sensor. More...

double	maxShadowDist
	Maximum distance of a point classified as SHADOW (further are OUTSIDE). More...

double	minSensorDist
	Minimum sensing distance of the sensor. More...

Protected Attributes inherited from point_containment_filter::ShapeMask
std::set< SeeShape, SortBodies >	bodies_

std::vector< bodies::BoundingSphere >	bspheres_

boost::mutex	shapes_lock_

TransformCallback	transform_callback_

	CLIP

	INSIDE

	OUTSIDE

Additional Inherited Members
Protected Types inherited from point_containment_filter::ShapeMask
typedef boost::function< bool(ShapeHandle, Eigen::Isometry3d &)>	TransformCallback

Detailed Description

This class manages a set of bodies in space and is able to test point(cloud)s against this set, whether the points are inside the set, shadowed by the set when viewed from a given sensor, or clipped by the given sensor clipping distance.

The mask works in the so-called filtering frame, which is any arbitrary TF frame. The TransformCallback you need to provide should transform all bodies to the filtering frame. All points passed to the masking functions are also expected to be in the filtering frame.

Important tip: do not forget to include the sensor's body in setIgnoreInShadowTest() call, otherwise all points will be shadowed by the sensor's body.

Due to limitations of the C++ API, there are some methods of the parent ShapeMask class that are forbidden to be used:

ShapeHandle addShape(const shapes::ShapeConstPtr&, double, double);
void removeShape(ShapeHandle handle);
void maskContainment(const sensor_msgs::PointCloud2&, const Eigen::Vector3d&, double, double, std::vector<int>&);
int getMaskContainment(double, double, double) const;
int getMaskContainment(const Eigen::Vector3d&) const;
void setTransformCallback(const TransformCallback&); (this class shadows it and the shadow has to be used)

Also, constants ShapeMask::INSIDE, ShapeMask::OUTSIDE, ShapeMask::CLIP should be avoided and their RayCastingShapeMask:: counterparts should be used. In any case, the ShapeMask:: constants are binary-compatible with the corresponding RayCastingShapeMask:: constants, so if you don't need shadow filtering, you can keep using the ShapeMask:: constants (although it is strongly discouraged).

Definition at line 79 of file RayCastingShapeMask.h.

Member Enumeration Documentation

◆ MaskValue

enum robot_body_filter::RayCastingShapeMask::MaskValue : std::uint8_t

strong

Enumerator
INSIDE	The point is inside robot body.
OUTSIDE	The point is outside robot body and is not a shadow (invalid points with NaNs also fall here).
CLIP	The point is outside measurement range.
SHADOW	Line segment sensor-point intersects the robot body and the point is not INSIDE.

Definition at line 83 of file RayCastingShapeMask.h.

Constructor & Destructor Documentation

◆ RayCastingShapeMask()

robot_body_filter::RayCastingShapeMask::RayCastingShapeMask	(	const TransformCallback &	transformCallback,
		double	minSensorDist = `0.0`,
		double	maxSensorDist = `1e10`,
		bool	doClipping = `true`,
		bool	doContainsTest = `true`,
		bool	doShadowTest = `true`,
		double	maxShadowDist = `-1.0`
	)

explicit

Parameters

transformCallback
minSensorDist
maxSensorDist
doClipping
doContainsTest
doShadowTest

Definition at line 38 of file RayCastingShapeMask.cpp.

◆ ~RayCastingShapeMask()

robot_body_filter::RayCastingShapeMask::~RayCastingShapeMask ( )

virtualdefault

Member Function Documentation

◆ addShape() [1/2]

MultiShapeHandle robot_body_filter::RayCastingShapeMask::addShape	(	const shapes::ShapeConstPtr &	shape,
		double	containsScale,
		double	containsPadding,
		double	shadowScale,
		double	shadowPadding,
		double	bsphereScale,
		double	bspherePadding,
		double	bboxScale,
		double	bboxPadding,
		bool	updateInternalStructures = `true`,
		const std::string &	name = `""`
	)

Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed.

Parameters

shape	The shape to be filtered.
containsScale	Scale of the shape to be used in contains tests.
containsPadding	Padding of the shape to be used in contains tests.
shadowScale	Scale of the shape to be used in shadow tests.
shadowPadding	Padding of the shape to be used in shadow tests.
bsphereScale	Scale of the shape to be used in bounding sphere computation.
bspherePadding	Padding of the shape to be used in bounding sphere computation.
bboxScale	Scale of the shape to be used in bounding box computation.
bboxPadding	Padding of the shape to be used in bounding box computation.
updateInternalStructures	Set to true if only adding a single shape. If adding a batch of shapes, set this to false and call updateInternalStructures() manually at the end of the batch.
name	Optional name of the shape. Used when reporting problems with the shape transforms.

Returns: A handle of the shape. It can be used for removing the shape. The contains and shadow member handles will be passed as the first argument of TransformCallback when asking for the transform of this shape's body.

See also: updateInternalShapeLists()

Definition at line 349 of file RayCastingShapeMask.cpp.

◆ addShape() [2/2]

MultiShapeHandle robot_body_filter::RayCastingShapeMask::addShape	(	const shapes::ShapeConstPtr &	shape,
		double	scale = `1.0`,
		double	padding = `0.0`,
		bool	updateInternalStructures = `true`,
		const std::string &	name = `""`
	)

Add the given shape to the set of filtered bodies. The internally created body will be transformed by the TransformCallback to which the handle of this shape will be passed.

Parameters

shape	The shape to be filtered.
scale	Scale of the shape to be used in both contains and shadow tests.
padding	Padding of the shape to be used in both contains and shadow tests.
updateInternalStructures	Set to true if only adding a single shape. If adding a batch of shapes, set this to false and call updateInternalStructures() manually at the end of the batch.
name	Optional name of the shape. Used when reporting problems with the shape transforms.

Returns: A handle of the shape. It can be used for removing the shape. The contains and shadow member handles will be passed as the first argument of TransformCallback when asking for the transform of this shape's body.

See also: updateInternalShapeLists()

Definition at line 341 of file RayCastingShapeMask.cpp.

◆ classifyPointNoLock()

void robot_body_filter::RayCastingShapeMask::classifyPointNoLock	(	const Eigen::Vector3d &	data,
		RayCastingShapeMask::MaskValue &	mask,
		const Eigen::Vector3d &	sensorPos
	)

protected

Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE.

Parameters

[in]	data	The input point. It has to be in the same frame into which transform_callback_ transforms the body parts.
[out]	mask	The mask value of the given point.
[in]	sensorPos	Position of the sensor in the pointcloud frame.

Note: Contrasting to maskContainmentAndShadows(), this method doesn't update link poses and expects them to be correctly updated by a prior call to updateBodyPoses(). It also doesn't lock shapes_mutex_.

Definition at line 269 of file RayCastingShapeMask.cpp.

◆ getBodies()

std::map< point_containment_filter::ShapeHandle, const bodies::Body * > robot_body_filter::RayCastingShapeMask::getBodies ( ) const

Provides the map of shape handle to corresponding body (for all added shapes).

Returns: Map shape_handle->body* .

Note: Shapes with scale or padding for contains test different from the scale or padding for shadow test, will be represented by two bodies here.

Definition at line 469 of file RayCastingShapeMask.cpp.

◆ getBodiesForBoundingBox()

std::map< point_containment_filter::ShapeHandle, const bodies::Body * > robot_body_filter::RayCastingShapeMask::getBodiesForBoundingBox ( ) const

Provides the map of shape handle to corresponding body for shapes that should be used in bounding box computation.

Returns: Map shape_handle->body* .

Note: The returned bodies should not be changed.

Definition at line 517 of file RayCastingShapeMask.cpp.

◆ getBodiesForBoundingSphere()

std::map< point_containment_filter::ShapeHandle, const bodies::Body * > robot_body_filter::RayCastingShapeMask::getBodiesForBoundingSphere ( ) const

Provides the map of shape handle to corresponding body for shapes that should be used in bounding sphere computation.

Returns: Map shape_handle->body* .

Note: The returned bodies should not be changed.

Definition at line 505 of file RayCastingShapeMask.cpp.

◆ getBodiesForContainsTest()

std::map< point_containment_filter::ShapeHandle, const bodies::Body * > robot_body_filter::RayCastingShapeMask::getBodiesForContainsTest ( ) const

Provides the map of shape handle to corresponding body for shapes that should be used in contains tests.

Returns: Map shape_handle->body* .

Definition at line 481 of file RayCastingShapeMask.cpp.

◆ getBodiesForShadowTest()

std::map< point_containment_filter::ShapeHandle, const bodies::Body * > robot_body_filter::RayCastingShapeMask::getBodiesForShadowTest ( ) const

Provides the map of shape handle to corresponding body for shapes that should be used in shadow testing.

Returns: Map shape_handle->body* .

Note: The returned bodies should not be changed.

Definition at line 493 of file RayCastingShapeMask.cpp.

◆ getBoundingSphere()

bodies::BoundingSphere robot_body_filter::RayCastingShapeMask::getBoundingSphere ( ) const

Get the bounding sphere containing all registered shapes.

Returns: The bounding sphere of the mask.

Note: If scale or padding for contains test differ from scale or padding for the shadow test, the maximum of the two bounding spheres is returned.; Is only updated during updateBodyPoses().

Definition at line 98 of file RayCastingShapeMask.cpp.

◆ getBoundingSphereForContainsTestNoLock()

bodies::BoundingSphere robot_body_filter::RayCastingShapeMask::getBoundingSphereForContainsTestNoLock ( ) const

protected

Get the bounding sphere containing all shapes that are to be used in the contains test.

Returns: The bounding sphere of the mask.

Definition at line 109 of file RayCastingShapeMask.cpp.

◆ getBoundingSphereNoLock()

bodies::BoundingSphere robot_body_filter::RayCastingShapeMask::getBoundingSphereNoLock ( ) const

protected

Get the bounding sphere containing all registered shapes.

Returns: The bounding sphere of the mask.

Definition at line 104 of file RayCastingShapeMask.cpp.

◆ getBoundingSpheres()

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere > robot_body_filter::RayCastingShapeMask::getBoundingSpheres ( ) const

Get the map of bounding spheres of all registered shapes.

Returns: The map of bounding spheres.

Note: If scale or padding for contains test differ from scale or padding for the shadow test for a shape, it will be represented by two bodies.; Is only updated during updateBodyPoses().

Definition at line 57 of file RayCastingShapeMask.cpp.

◆ getBoundingSpheresForContainsTest()

std::map< point_containment_filter::ShapeHandle, bodies::BoundingSphere > robot_body_filter::RayCastingShapeMask::getBoundingSpheresForContainsTest ( ) const

Get the map of bounding spheres of all registered shapes that are used for testing INSIDE points.

Returns: The map of bounding spheres.

Note: Is only updated during updateBodyPoses().

Definition at line 78 of file RayCastingShapeMask.cpp.

◆ maskContainmentAndShadows() [1/2]

void robot_body_filter::RayCastingShapeMask::maskContainmentAndShadows	(	const Cloud &	data,
		std::vector< MaskValue > &	mask,
		const Eigen::Vector3d &	sensorPos = `Eigen::Vector3d::Zero()`
	)

Decide whether the points in data are either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE.

Parameters

[in]	data	The input pointcloud. It has to be in the same frame into which transform_callback_ transforms the body parts. The frame_id of the cloud is ignored.
[out]	mask	The mask value of all the points. Ordered by point index.
[in]	sensorPos	Position of the sensor in the pointcloud frame.

Note: Internally calls updateBodyPoses() to update link transforms.; Updates bspheres_/boundingBoxes to contain the bounding spheres/boxes of links.

◆ maskContainmentAndShadows() [2/2]

void robot_body_filter::RayCastingShapeMask::maskContainmentAndShadows	(	const Eigen::Vector3f &	data,
		RayCastingShapeMask::MaskValue &	mask,
		const Eigen::Vector3d &	sensorPos = `Eigen::Vector3d::Zero()`,
		bool	updateBodyPoses = `true`
	)

Decide whether the point is either INSIDE the robot, OUTSIDE of it, SHADOWed by the robot body, or CLIPped by min/max sensor measurement distance. INSIDE points can also be viewed as being SHADOW points, but in this algorithm, INSIDE has precedence. Invalid points (containing NaNs) are reported as OUTSIDE.

Parameters

[in]	data	The input point. It has to be in the same frame into which transform_callback_ transforms the body parts.
[out]	mask	The mask value of the given point.
[in]	sensorPos	Position of the sensor in the pointcloud frame.

Note: Internally calls updateBodyPoses() to update link transforms.; Updates bspheres_/boundingBoxes to contain the bounding spheres/boxes of links.

Definition at line 251 of file RayCastingShapeMask.cpp.

◆ removeShape()

void robot_body_filter::RayCastingShapeMask::removeShape	(	const MultiShapeHandle &	handle,
		bool	updateInternalStructures = `true`
	)

Remove the shape identified by the given handle from the filtering mask.

Parameters

handle	The handle returned by addShape().
updateInternalStructures	Set to true if only removing a single shape. If removing a batch of shapes, set this to false and call updateInternalStructures() manually at the end of the batch.

See also: updateInternalShapeLists()

Definition at line 399 of file RayCastingShapeMask.cpp.

◆ setIgnoreInContainsTest()

void robot_body_filter::RayCastingShapeMask::setIgnoreInContainsTest	(	std::unordered_set< MultiShapeHandle >	ignoreInContainsTest,
		bool	updateInternalStructures = `true`
	)

Set the shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows.

Parameters

ignoreInContainsTest	The shapes to be ignored.
updateInternalStructures	If false, the caller is responsible for calling updateInternalShapeLists().

See also: updateInternalShapeLists()

Definition at line 323 of file RayCastingShapeMask.cpp.

◆ setIgnoreInShadowTest()

void robot_body_filter::RayCastingShapeMask::setIgnoreInShadowTest	(	std::unordered_set< MultiShapeHandle >	ignoreInShadowTest,
		bool	updateInternalStructures = `true`
	)

Set the shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows.

Parameters

ignoreInShadowTest	The shapes to be ignored.
updateInternalStructures	If false, the caller is responsible for calling updateInternalShapeLists().

Note: E.g. the sensor collision shape should be listed here.

See also: updateInternalShapeLists()

Definition at line 332 of file RayCastingShapeMask.cpp.

◆ setTransformCallback()

void robot_body_filter::RayCastingShapeMask::setTransformCallback ( const TransformCallback & transform_callback )

Set the callback which is called whenever a pose of a body needs to be updated.

Parameters

transform_callback The callback. First argument is the handle of the shape whose corresponding body is being updated. The second argument is the resulting transform. Return false if getting the transform failed, otherwise return true.

Definition at line 435 of file RayCastingShapeMask.cpp.

◆ updateBodyPoses()

void robot_body_filter::RayCastingShapeMask::updateBodyPoses ( )

Update the poses of bodies and recompute corresponding bounding spheres.

Note: Calls the TransformCallback given in constructor or set by setTransformCallback(). One call per registered shape will be made.

Definition at line 114 of file RayCastingShapeMask.cpp.

◆ updateBodyPosesNoLock()

void robot_body_filter::RayCastingShapeMask::updateBodyPosesNoLock ( )

protected

Update the poses of bodies_ and recompute corresponding bspheres_ and boundingBoxes.

Note: Calls transform_callback_; The caller has to hold a lock to shapes_mutex_.

Definition at line 120 of file RayCastingShapeMask.cpp.

◆ updateInternalShapeLists()

void robot_body_filter::RayCastingShapeMask::updateInternalShapeLists ( )

Update internal structures. Should be called whenever a shape is added, removed or ignored. By default, it is called automatically by the methods that affect the list of shapes. However, for efficiency, the caller can tell these methods to not update the shape lists and call this when a batch operation is finished.

See also: addShape(); removeShape()

Definition at line 441 of file RayCastingShapeMask.cpp.

Member Data Documentation

◆ bspheresBodyIndices

std::vector<size_t> robot_body_filter::RayCastingShapeMask::bspheresBodyIndices

protected

Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheres_. Indices in this vector correspond to indices in bspheres_. Values of this vector correspond to indices in bodies_.

Definition at line 383 of file RayCastingShapeMask.h.

◆ bspheresForContainsTest

std::vector<bodies::BoundingSphere> robot_body_filter::RayCastingShapeMask::bspheresForContainsTest

protected

Bounding spheres to be used for classifying INSIDE points.

Definition at line 386 of file RayCastingShapeMask.h.

◆ bspheresForContainsTestBodyIndices

std::vector<size_t> robot_body_filter::RayCastingShapeMask::bspheresForContainsTestBodyIndices

protected

Contains indices of bodies (as listed in this->bodies_) which correspond to bounding spheres in this->bspheresForContainsTest. Indices in this vector correspond to indices in bspheresForContainsTest. Values of this vector correspond to indices in bodies_.

Definition at line 392 of file RayCastingShapeMask.h.

◆ data

std::unique_ptr<RayCastingShapeMaskPIMPL> robot_body_filter::RayCastingShapeMask::data

protected

Implementation-private data.

Definition at line 375 of file RayCastingShapeMask.h.

◆ doClipping

bool robot_body_filter::RayCastingShapeMask::doClipping = true

protected

Classify for CLIP during masking.

Definition at line 371 of file RayCastingShapeMask.h.

◆ doContainsTest

bool robot_body_filter::RayCastingShapeMask::doContainsTest = true

protected

Classify for INSIDE during masking.

Definition at line 372 of file RayCastingShapeMask.h.

◆ doShadowTest

bool robot_body_filter::RayCastingShapeMask::doShadowTest = true

protected

Classify for SHADOW during masking.

Definition at line 373 of file RayCastingShapeMask.h.

◆ ignoreInBbox

std::unordered_set<MultiShapeHandle> robot_body_filter::RayCastingShapeMask::ignoreInBbox

protected

Shapes to be ignored when computing the robot's bounding box.

Definition at line 402 of file RayCastingShapeMask.h.

◆ ignoreInBsphere

std::unordered_set<MultiShapeHandle> robot_body_filter::RayCastingShapeMask::ignoreInBsphere

protected

Shapes to be ignored when computing the robot's bounding sphere.

Definition at line 400 of file RayCastingShapeMask.h.

◆ ignoreInContainsTest

std::unordered_set<MultiShapeHandle> robot_body_filter::RayCastingShapeMask::ignoreInContainsTest

protected

Shapes to be ignored when doing test for INSIDE in maskContainmentAndShadows.

Definition at line 395 of file RayCastingShapeMask.h.

◆ ignoreInShadowTest

std::unordered_set<MultiShapeHandle> robot_body_filter::RayCastingShapeMask::ignoreInShadowTest

protected

Shapes to be ignored when doing test for SHADOW in maskContainmentAndShadows. E.g. the sensor collision shape should be listed here.

Definition at line 398 of file RayCastingShapeMask.h.

◆ maxSensorDist

double robot_body_filter::RayCastingShapeMask::maxSensorDist

protected

Maximum sensing distance of the sensor.

Definition at line 368 of file RayCastingShapeMask.h.

◆ maxShadowDist

double robot_body_filter::RayCastingShapeMask::maxShadowDist

protected

Maximum distance of a point classified as SHADOW (further are OUTSIDE).

Definition at line 369 of file RayCastingShapeMask.h.

◆ minSensorDist

double robot_body_filter::RayCastingShapeMask::minSensorDist

protected

Minimum sensing distance of the sensor.

Definition at line 367 of file RayCastingShapeMask.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MaskValue

Constructor & Destructor Documentation

◆ RayCastingShapeMask()

◆ ~RayCastingShapeMask()

Member Function Documentation

◆ addShape() [1/2]

◆ addShape() [2/2]

◆ classifyPointNoLock()

◆ getBodies()

◆ getBodiesForBoundingBox()

◆ getBodiesForBoundingSphere()

◆ getBodiesForContainsTest()

◆ getBodiesForShadowTest()

◆ getBoundingSphere()

◆ getBoundingSphereForContainsTestNoLock()

◆ getBoundingSphereNoLock()

◆ getBoundingSpheres()

◆ getBoundingSpheresForContainsTest()

◆ maskContainmentAndShadows() [1/2]

◆ maskContainmentAndShadows() [2/2]

◆ removeShape()

◆ setIgnoreInContainsTest()

◆ setIgnoreInShadowTest()

◆ setTransformCallback()

◆ updateBodyPoses()

◆ updateBodyPosesNoLock()

◆ updateInternalShapeLists()

Member Data Documentation

◆ bspheresBodyIndices

◆ bspheresForContainsTest

◆ bspheresForContainsTestBodyIndices

◆ data

◆ doClipping

◆ doContainsTest

◆ doShadowTest

◆ ignoreInBbox

◆ ignoreInBsphere

◆ ignoreInContainsTest

◆ ignoreInShadowTest

◆ maxSensorDist

◆ maxShadowDist

◆ minSensorDist