VoxelGrid holds a dense 3D, axis-aligned set of data at a given resolution, where the data is supplied as a template parameter. More...
#include <voxel_grid.h>
Public Member Functions | |
| MOVEIT_DECLARE_PTR_MEMBER (VoxelGrid) | |
| VoxelGrid (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, T default_object) | |
| Constructor for the VoxelGrid. More... | |
| virtual | ~VoxelGrid () |
| VoxelGrid () | |
| Default constructor for the VoxelGrid. More... | |
| void | resize (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, T default_object) |
| Resize the VoxelGrid. More... | |
| const T & | operator() (double x, double y, double z) const |
| Operator that gets the value of the given location (x, y, z) given the discretization of the volume. The location represents a location in the original coordinate frame used to construct the voxel grid. More... | |
| const T & | operator() (const Eigen::Vector3d &pos) const |
| T & | getCell (int x, int y, int z) |
| Gives the value of the given location (x,y,z) in the discretized voxel grid space. More... | |
| T & | getCell (const Eigen::Vector3i &pos) |
| const T & | getCell (int x, int y, int z) const |
| const T & | getCell (const Eigen::Vector3i &pos) const |
| void | setCell (int x, int y, int z, const T &obj) |
| Sets the value of the given location (x,y,z) in the discretized voxel grid space to supplied value. More... | |
| void | setCell (const Eigen::Vector3i &pos, const T &obj) |
| void | reset (const T &initial) |
| Sets every cell in the voxel grid to the supplied data. More... | |
| double | getSize (Dimension dim) const |
| Gets the size in arbitrary units of the indicated dimension. More... | |
| double | getResolution () const |
| Gets the resolution in arbitrary consistent units. More... | |
| double | getResolution (Dimension dim) const |
| deprecated. Use the version with no arguments. More... | |
| double | getOrigin (Dimension dim) const |
| Gets the origin (minimum point) of the indicated dimension. More... | |
| int | getNumCells (Dimension dim) const |
| Gets the number of cells in the indicated dimension. More... | |
| void | gridToWorld (int x, int y, int z, double &world_x, double &world_y, double &world_z) const |
| Converts grid coordinates to world coordinates. More... | |
| void | gridToWorld (const Eigen::Vector3i &grid, Eigen::Vector3d &world) const |
| bool | worldToGrid (double world_x, double world_y, double world_z, int &x, int &y, int &z) const |
| Converts from a world location to a set of integer indices. Does check whether or not the cell being returned is valid. The returned indices will be computed even if they are invalid. More... | |
| bool | worldToGrid (const Eigen::Vector3d &world, Eigen::Vector3i &grid) const |
| bool | isCellValid (int x, int y, int z) const |
| Checks if the given cell in integer coordinates is within the voxel grid. More... | |
| bool | isCellValid (const Eigen::Vector3i &pos) const |
| bool | isCellValid (Dimension dim, int cell) const |
| Checks if the indicated index is valid along a particular dimension. More... | |
Protected Member Functions | |
| int | ref (int x, int y, int z) const |
| Gets the 1D index into the array, with no validity check. More... | |
| int | getCellFromLocation (Dimension dim, double loc) const |
| Gets the cell number from the location. More... | |
| double | getLocationFromCell (Dimension dim, int cell) const |
| Gets the center of the cell in world coordinates along the given dimension. No validity check. More... | |
Protected Attributes | |
| T * | data_ |
| Storage for the full set of data elements. More... | |
| T | default_object_ |
| The default object to return in case of out-of-bounds query. More... | |
| T *** | data_ptrs_ |
| 3D array of pointers to the data elements More... | |
| double | size_ [3] |
| The size of each dimension in meters (in Dimension order) More... | |
| double | resolution_ |
| The resolution of each dimension in meters (in Dimension order) More... | |
| double | oo_resolution_ |
| 1.0/resolution_ More... | |
| double | origin_ [3] |
| The origin (minimum point) of each dimension in meters (in Dimension order) More... | |
| double | origin_minus_ [3] |
| origin - 0.5/resolution More... | |
| int | num_cells_ [3] |
| The number of cells in each dimension (in Dimension order) More... | |
| int | num_cells_total_ |
| The total number of voxels in the grid. More... | |
| int | stride1_ |
| The step to take when stepping between consecutive X members in the 1D array. More... | |
| int | stride2_ |
| The step to take when stepping between consecutive Y members given an X in the 1D array. More... | |
Detailed Description
template<typename T>
class distance_field::VoxelGrid< T >
VoxelGrid holds a dense 3D, axis-aligned set of data at a given resolution, where the data is supplied as a template parameter.
Definition at line 61 of file voxel_grid.h.
Constructor & Destructor Documentation
◆ VoxelGrid() [1/2]
| distance_field::VoxelGrid< T >::VoxelGrid | ( | double | size_x, |
| double | size_y, | ||
| double | size_z, | ||
| double | resolution, | ||
| double | origin_x, | ||
| double | origin_y, | ||
| double | origin_z, | ||
| T | default_object | ||
| ) |
Constructor for the VoxelGrid.
Constructs a dense representation of a 3D, axis-aligned volume at a given resolution. The volume can be represented in any consistent set of units, but for the sake of documentation we assume that the units are meters. The size of the the volume is given along each of the X, Y, and Z axes. The volume begins at the minimum point in each dimension, as specified by the origin parameters. The data structure will remain uninitialized until the VoxelGrid::reset function is called.
- Parameters
-
[in] size_x Size of the X axis in meters [in] size_y Size of the Y axis in meters [in] size_z Size of the Z axis in meters [in] resolution Resolution of a single cell in meters [in] origin_x Minimum point along the X axis of the volume [in] origin_y Minimum point along the Y axis of the volume [in] origin_z Minimum point along the Z axis of the volume [in] default_object An object that will be returned for any future queries that are not valid
Definition at line 342 of file voxel_grid.h.
◆ ~VoxelGrid()
|
virtual |
Definition at line 402 of file voxel_grid.h.
◆ VoxelGrid() [2/2]
| distance_field::VoxelGrid< T >::VoxelGrid |
Default constructor for the VoxelGrid.
This is only useful if resize() is called after construction to set the size and resolution of the VoxelGrid.
Definition at line 350 of file voxel_grid.h.
Member Function Documentation
◆ getCell() [1/4]
|
inline |
Definition at line 491 of file voxel_grid.h.
◆ getCell() [2/4]
|
inline |
Definition at line 497 of file voxel_grid.h.
◆ getCell() [3/4]
|
inline |
Gives the value of the given location (x,y,z) in the discretized voxel grid space.
The address here is in the discretized space of the voxel grid, where the cell indicated by the constructor arguments (origin_x, origin_y, origin_z) is cell (0,0,0), and the cell indicated by (origin_x+x_size, origin_y+y_size, origin_z+z_size) will be (size_x/resolution, size_y/resolution, size_z/resolution).
- Parameters
-
[in] x The X index of the desired cell [in] y The Y index of the desired cell [in] z The Z index of the desired cell
- Returns
- The data in the indicated cell. If x,y,z is invalid then corruption and/or SEGFAULTS will occur.
Definition at line 479 of file voxel_grid.h.
◆ getCell() [4/4]
|
inline |
Definition at line 485 of file voxel_grid.h.
◆ getCellFromLocation()
|
inlineprotected |
Gets the cell number from the location.
Gets the cell number in a given dimension given a world value. No validity check.
- Parameters
-
[in] dim The dimension of the query [in] loc The world location along that dimension
- Returns
- The computed cell index along the given dimension
Definition at line 515 of file voxel_grid.h.
◆ getLocationFromCell()
|
inlineprotected |
Gets the center of the cell in world coordinates along the given dimension. No validity check.
- Parameters
-
[in] dim The dimension of the query [in] cell The cell along the given dimension
- Returns
- The world coordinate of the center of the cell
Definition at line 535 of file voxel_grid.h.
◆ getNumCells()
|
inline |
Gets the number of cells in the indicated dimension.
- Parameters
-
[in] dim The dimension for the query
- Returns
- The number of cells for the indicated dimension
Definition at line 456 of file voxel_grid.h.
◆ getOrigin()
|
inline |
Gets the origin (minimum point) of the indicated dimension.
- Parameters
-
[in] dim The dimension for the query
- Returns
- The indicated axis origin
Definition at line 450 of file voxel_grid.h.
◆ getResolution() [1/2]
|
inline |
Gets the resolution in arbitrary consistent units.
- Returns
- The resolution in meters
Definition at line 438 of file voxel_grid.h.
◆ getResolution() [2/2]
|
inline |
deprecated. Use the version with no arguments.
Definition at line 444 of file voxel_grid.h.
◆ getSize()
|
inline |
Gets the size in arbitrary units of the indicated dimension.
- Parameters
-
[in] dim The dimension for the query
- Returns
- The size in meters
Definition at line 432 of file voxel_grid.h.
◆ gridToWorld() [1/2]
|
inline |
Definition at line 555 of file voxel_grid.h.
◆ gridToWorld() [2/2]
|
inline |
Converts grid coordinates to world coordinates.
Converts from an set of integer indices to a world location given the origin and resolution parameters. There is no check whether or not the cell or world locations lie within the represented region.
- Parameters
-
[in] x The integer X location [in] y The integer Y location [in] z The integer Z location [out] world_x The computed world X location [out] world_y The computed world X location [out] world_z The computed world X location
- Returns
- True, as there is no check that the integer locations are valid
Definition at line 547 of file voxel_grid.h.
◆ isCellValid() [1/3]
|
inline |
Definition at line 414 of file voxel_grid.h.
◆ isCellValid() [2/3]
|
inline |
Checks if the indicated index is valid along a particular dimension.
- Parameters
-
[in] dim The dimension for the query [in] cell The index along that dimension
- Returns
- True if the cell is valid along that dimension; otherwise False.
Definition at line 420 of file voxel_grid.h.
◆ isCellValid() [3/3]
|
inline |
Checks if the given cell in integer coordinates is within the voxel grid.
- Parameters
-
[in] x The integer X location [in] y The integer Y location [in] z The integer Z location
- Returns
- True if the cell lies within the voxel grid; otherwise False.
Definition at line 408 of file voxel_grid.h.
◆ MOVEIT_DECLARE_PTR_MEMBER()
| distance_field::VoxelGrid< T >::MOVEIT_DECLARE_PTR_MEMBER | ( | VoxelGrid< T > | ) |
◆ operator()() [1/2]
|
inline |
Definition at line 473 of file voxel_grid.h.
◆ operator()() [2/2]
|
inline |
Operator that gets the value of the given location (x, y, z) given the discretization of the volume. The location represents a location in the original coordinate frame used to construct the voxel grid.
- Parameters
-
[in] x X component of the desired location [in] y Y component of the desired location [in] z Z component of the desired location
- Returns
- The data stored at that location, or a default value supplied in the constructor if the location is not valid.
Definition at line 462 of file voxel_grid.h.
◆ ref()
|
inlineprotected |
Gets the 1D index into the array, with no validity check.
- Parameters
-
[in] x The integer X location [in] y The integer Y location [in] z The integer Z location
- Returns
- The computed 1D index
Definition at line 426 of file voxel_grid.h.
◆ reset()
|
inline |
Sets every cell in the voxel grid to the supplied data.
- Parameters
-
[in] initial The template variable to which to set the data
Definition at line 541 of file voxel_grid.h.
◆ resize()
| void distance_field::VoxelGrid< T >::resize | ( | double | size_x, |
| double | size_y, | ||
| double | size_z, | ||
| double | resolution, | ||
| double | origin_x, | ||
| double | origin_y, | ||
| double | origin_z, | ||
| T | default_object | ||
| ) |
Resize the VoxelGrid.
This discards all the data in the voxel grid and reinitializes it with a new size and resolution. This is mainly useful if the size or resolution is not known until after the voxelgrid is constructed.
- Parameters
-
[in] size_x Size of the X axis in meters [in] size_y Size of the Y axis in meters [in] size_z Size of the Z axis in meters [in] resolution Resolution of a single cell in meters [in] origin_x Minimum point along the X axis of the volume [in] origin_y Minimum point along the Y axis of the volume [in] origin_z Minimum point along the Z axis of the volume
Definition at line 367 of file voxel_grid.h.
◆ setCell() [1/2]
|
inline |
Definition at line 509 of file voxel_grid.h.
◆ setCell() [2/2]
|
inline |
Sets the value of the given location (x,y,z) in the discretized voxel grid space to supplied value.
The address here is in the discretized space of the voxel grid, where the cell indicated by the constructor arguments (origin_x, origin_y, origin_z) is cell (0,0,0), and the cell indicated by (origin_x+x_size, origin_y+y_size, origin_z+z_size) will be (size_x/resolution, size_y/resolution, size_z/resolution).
If the arguments do not indicate a valid cell, corruption and/or SEGFAULTS will occur.
- Parameters
-
[in] x The X index of the desired cell [in] y The Y index of the desired cell [in] z The Z index of the desired cell [out] obj The data to place into the given cell
Definition at line 503 of file voxel_grid.h.
◆ worldToGrid() [1/2]
|
inline |
Definition at line 572 of file voxel_grid.h.
◆ worldToGrid() [2/2]
|
inline |
Converts from a world location to a set of integer indices. Does check whether or not the cell being returned is valid. The returned indices will be computed even if they are invalid.
- Parameters
-
[in] world_x The world X location [in] world_y The world Y location [in] world_z The world Z location [out] x The computed integer X location [out] y The computed integer X location [out] z The computed integer X location
- Returns
- True if all the world values result in integer indices that pass a validity check; otherwise False.
Definition at line 563 of file voxel_grid.h.
Member Data Documentation
◆ data_
|
protected |
Storage for the full set of data elements.
Definition at line 289 of file voxel_grid.h.
◆ data_ptrs_
|
protected |
3D array of pointers to the data elements
Definition at line 291 of file voxel_grid.h.
◆ default_object_
|
protected |
The default object to return in case of out-of-bounds query.
Definition at line 290 of file voxel_grid.h.
◆ num_cells_
|
protected |
The number of cells in each dimension (in Dimension order)
Definition at line 297 of file voxel_grid.h.
◆ num_cells_total_
|
protected |
The total number of voxels in the grid.
Definition at line 298 of file voxel_grid.h.
◆ oo_resolution_
|
protected |
1.0/resolution_
Definition at line 294 of file voxel_grid.h.
◆ origin_
|
protected |
The origin (minimum point) of each dimension in meters (in Dimension order)
Definition at line 295 of file voxel_grid.h.
◆ origin_minus_
|
protected |
origin - 0.5/resolution
Definition at line 296 of file voxel_grid.h.
◆ resolution_
|
protected |
The resolution of each dimension in meters (in Dimension order)
Definition at line 293 of file voxel_grid.h.
◆ size_
|
protected |
The size of each dimension in meters (in Dimension order)
Definition at line 292 of file voxel_grid.h.
◆ stride1_
|
protected |
The step to take when stepping between consecutive X members in the 1D array.
Definition at line 299 of file voxel_grid.h.
◆ stride2_
|
protected |
The step to take when stepping between consecutive Y members given an X in the 1D array.
Definition at line 300 of file voxel_grid.h.
The documentation for this class was generated from the following file:
- moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
