moveit2
The MoveIt Motion Planning Framework for ROS 2.

Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...
#include <propagation_distance_field.h>
Public Member Functions  
PropDistanceFieldVoxel ()  
Constructor. All fields left uninitialized. More...  
PropDistanceFieldVoxel (int distance_sq_positive, int distance_sq_negative)  
Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared. More...  
Public Attributes  
int  distance_square_ 
Distance in cells to the closest obstacle, squared. More...  
int  negative_distance_square_ 
Distance in cells to the nearest unoccupied cell, squared. More...  
Eigen::Vector3i  closest_point_ 
Closest occupied cell. More...  
Eigen::Vector3i  closest_negative_point_ 
Closest unoccupied cell. More...  
int  update_direction_ 
Direction from which this voxel was updated for occupied distance propagation. More...  
int  negative_update_direction_ 
Direction from which this voxel was updated for negative distance propagation. More...  
Static Public Attributes  
static const int  UNINITIALIZED = 1 
Value that represents an uninitialized voxel. More...  
Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid.
Definition at line 76 of file propagation_distance_field.h.

inline 
Constructor. All fields left uninitialized.
Definition at line 594 of file propagation_distance_field.h.

inline 
Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared.
[in]  distance_sq_positive  Value to which to initialize distance_sq_ for distance to closest obstalce 
[in]  distance_sq_negative  Value to which to initialize distance_sq_negative_ for distance to nearest nonobstacle cell 
Definition at line 583 of file propagation_distance_field.h.
Eigen::Vector3i distance_field::PropDistanceFieldVoxel::closest_negative_point_ 
Closest unoccupied cell.
Definition at line 103 of file propagation_distance_field.h.
Eigen::Vector3i distance_field::PropDistanceFieldVoxel::closest_point_ 
Closest occupied cell.
Definition at line 102 of file propagation_distance_field.h.
int distance_field::PropDistanceFieldVoxel::distance_square_ 
Distance in cells to the closest obstacle, squared.
Definition at line 100 of file propagation_distance_field.h.
int distance_field::PropDistanceFieldVoxel::negative_distance_square_ 
Distance in cells to the nearest unoccupied cell, squared.
Definition at line 101 of file propagation_distance_field.h.
int distance_field::PropDistanceFieldVoxel::negative_update_direction_ 
Direction from which this voxel was updated for negative distance propagation.
Definition at line 105 of file propagation_distance_field.h.

static 
Value that represents an uninitialized voxel.
Definition at line 108 of file propagation_distance_field.h.
int distance_field::PropDistanceFieldVoxel::update_direction_ 
Direction from which this voxel was updated for occupied distance propagation.
Definition at line 104 of file propagation_distance_field.h.