Class SignedDistanceField

Defined in File SignedDistanceField.hpp

Class Documentation

class SignedDistanceField

Public Functions

SignedDistanceField()

virtual ~SignedDistanceField()

void calculateSignedDistanceField(const GridMap &gridMap, const std::string &layer, const double heightClearance)

double getDistanceAt(const Position3 &position) const

Vector3 getDistanceGradientAt(const Position3 &position) const

double getInterpolatedDistanceAt(const Position3 &position) const

void convertToPointCloud(pcl::PointCloud<pcl::PointXYZI> &points) const