Namespace for holding classes that generate distance fields. More...

Classes
class	DistanceField
	DistanceField is an abstract base class for computing distances from sets of 3D obstacle points. The distance assigned to a freespace cell should be the distance to the closest obstacle cell. Cells that are obstacle cells should either be marked as zero distance, or may have a negative distance if a signed version of the distance field is being used and an obstacle point is internal to an obstacle volume. More...

struct	CompareEigenVector3i
	Struct for sorting type Eigen::Vector3i for use in sorted std containers. Sorts in z order, then y order, then x order. More...

struct	PropDistanceFieldVoxel
	Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...

class	PropagationDistanceField
	A DistanceField implementation that uses a vector propagation method. Distances propagate outward from occupied cells, or inwards from unoccupied cells if negative distances are to be computed, which is optional. Outward and inward propagation only occur to a desired maximum distance - cells that are more than this maximum distance from the nearest cell will have maximum distance measurements. More...

class	VoxelGrid
	VoxelGrid holds a dense 3D, axis-aligned set of data at a given resolution, where the data is supplied as a template parameter. More...

Enumerations
enum	PlaneVisualizationType { XY_PLANE , XZ_PLANE , YZ_PLANE }
	The plane to visualize. More...

enum	Dimension { DIM_X = 0 , DIM_Y = 1 , DIM_Z = 2 }
	Specifies dimension of different axes. More...

Functions
	MOVEIT_CLASS_FORWARD (DistanceField)

void	findInternalPointsConvex (const bodies::Body &body, double resolution, EigenSTL::vector_Vector3d &points)
	Find all points on a regular grid that are internal to the body, assuming the body is a convex shape. If the body is not convex then its convex hull is used. More...

Detailed Description

Namespace for holding classes that generate distance fields.

Distance fields are dense 3D representations containing the distance to the nearest obstacles.

Enumeration Type Documentation

◆ Dimension

enum distance_field::Dimension

Specifies dimension of different axes.

Enumerator
DIM_X
DIM_Y
DIM_Z

Definition at line 47 of file voxel_grid.h.

◆ PlaneVisualizationType

enum distance_field::PlaneVisualizationType

The plane to visualize.

Enumerator
XY_PLANE
XZ_PLANE
YZ_PLANE

Definition at line 68 of file distance_field.h.

Function Documentation

◆ findInternalPointsConvex()

void distance_field::findInternalPointsConvex	(	const bodies::Body &	body,
		double	resolution,
		EigenSTL::vector_Vector3d &	points
	)

Find all points on a regular grid that are internal to the body, assuming the body is a convex shape. If the body is not convex then its convex hull is used.

Parameters

[in]	body	The body to discretize
[in]	resolution	The resolution at which to test
[out]	points	The points internal to the body are appended to thiss vector.

Definition at line 39 of file find_internal_points.cpp.

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◆ MOVEIT_CLASS_FORWARD()

distance_field::MOVEIT_CLASS_FORWARD ( DistanceField )

Classes

Enumerations