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.

virtual	~VoxelGrid ()

	VoxelGrid ()
	Default constructor for the VoxelGrid.

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.

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.

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.

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.

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.

double	getSize (Dimension dim) const
	Gets the size in arbitrary units of the indicated dimension.

double	getResolution () const
	Gets the resolution in arbitrary consistent units.

double	getOrigin (Dimension dim) const
	Gets the origin (minimum point) of the indicated dimension.

int	getNumCells (Dimension dim) const
	Gets the number of cells in the indicated dimension.

void	gridToWorld (int x, int y, int z, double &world_x, double &world_y, double &world_z) const
	Converts grid coordinates to world coordinates.

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.

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.

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.

Protected Member Functions
int	ref (int x, int y, int z) const
	Gets the 1D index into the array, with no validity check.

int	getCellFromLocation (Dimension dim, double loc) const
	Gets the cell number from the location.

double	getLocationFromCell (Dimension dim, int cell) const
	Gets the center of the cell in world coordinates along the given dimension. No validity check.

Protected Attributes
T *	data_
	Storage for the full set of data elements.

T	default_object_
	The default object to return in case of out-of-bounds query.

T ***	data_ptrs_
	3D array of pointers to the data elements

double	size_ [3]
	The size of each dimension in meters (in Dimension order)

double	resolution_
	The resolution of each dimension in meters (in Dimension order)

double	oo_resolution_
	1.0/resolution_

double	origin_ [3]
	The origin (minimum point) of each dimension in meters (in Dimension order)

double	origin_minus_ [3]
	origin - 0.5/resolution

int	num_cells_ [3]
	The number of cells in each dimension (in Dimension order)

int	num_cells_total_
	The total number of voxels in the grid.

int	stride1_
	The step to take when stepping between consecutive X members in the 1D array.

int	stride2_
	The step to take when stepping between consecutive Y members given an X in the 1D array.

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]

template<typename T >

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 339 of file voxel_grid.h.

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◆ ~VoxelGrid()

template<typename T >

distance_field::VoxelGrid< T >::~VoxelGrid ( )

virtual

Definition at line 399 of file voxel_grid.h.

◆ VoxelGrid() [2/2]

template<typename T >

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 347 of file voxel_grid.h.

Member Function Documentation

◆ getCell() [1/4]

template<typename T >

T & distance_field::VoxelGrid< T >::getCell ( const Eigen::Vector3i & pos )

inline

Definition at line 482 of file voxel_grid.h.

◆ getCell() [2/4]

template<typename T >

const T & distance_field::VoxelGrid< T >::getCell ( const Eigen::Vector3i & pos ) const

inline

Definition at line 488 of file voxel_grid.h.

◆ getCell() [3/4]

template<typename T >

T & distance_field::VoxelGrid< T >::getCell	(	int	x,
		int	y,
		int	z
	)

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 470 of file voxel_grid.h.

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◆ getCell() [4/4]

template<typename T >

const T & distance_field::VoxelGrid< T >::getCell	(	int	x,
		int	y,
		int	z
	)		const

inline

Definition at line 476 of file voxel_grid.h.

◆ getCellFromLocation()

template<typename T >

int distance_field::VoxelGrid< T >::getCellFromLocation	(	Dimension	dim,
		double	loc
	)		const

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 506 of file voxel_grid.h.

◆ getLocationFromCell()

template<typename T >

double distance_field::VoxelGrid< T >::getLocationFromCell	(	Dimension	dim,
		int	cell
	)		const

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 526 of file voxel_grid.h.

◆ getNumCells()

template<typename T >

int distance_field::VoxelGrid< T >::getNumCells ( Dimension dim ) const

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 447 of file voxel_grid.h.

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◆ getOrigin()

template<typename T >

double distance_field::VoxelGrid< T >::getOrigin ( Dimension dim ) const

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 441 of file voxel_grid.h.

◆ getResolution()

template<typename T >

double distance_field::VoxelGrid< T >::getResolution ( ) const

inline

Gets the resolution in arbitrary consistent units.

Returns: The resolution in meters

Definition at line 435 of file voxel_grid.h.

◆ getSize()

template<typename T >

double distance_field::VoxelGrid< T >::getSize ( Dimension dim ) const

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 429 of file voxel_grid.h.

◆ gridToWorld() [1/2]

template<typename T >

void distance_field::VoxelGrid< T >::gridToWorld	(	const Eigen::Vector3i &	grid,
		Eigen::Vector3d &	world
	)		const

inline

Definition at line 546 of file voxel_grid.h.

◆ gridToWorld() [2/2]

template<typename T >

void distance_field::VoxelGrid< T >::gridToWorld	(	int	x,
		int	y,
		int	z,
		double &	world_x,
		double &	world_y,
		double &	world_z
	)		const

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 538 of file voxel_grid.h.

◆ isCellValid() [1/3]

template<typename T >

bool distance_field::VoxelGrid< T >::isCellValid ( const Eigen::Vector3i & pos ) const

inline

Definition at line 411 of file voxel_grid.h.

◆ isCellValid() [2/3]

template<typename T >

bool distance_field::VoxelGrid< T >::isCellValid	(	Dimension	dim,
		int	cell
	)		const

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 417 of file voxel_grid.h.

◆ isCellValid() [3/3]

template<typename T >

bool distance_field::VoxelGrid< T >::isCellValid	(	int	x,
		int	y,
		int	z
	)		const

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 405 of file voxel_grid.h.

◆ MOVEIT_DECLARE_PTR_MEMBER()

template<typename T >

distance_field::VoxelGrid< T >::MOVEIT_DECLARE_PTR_MEMBER ( VoxelGrid< T > )

◆ operator()() [1/2]

template<typename T >

const T & distance_field::VoxelGrid< T >::operator() ( const Eigen::Vector3d & pos ) const

inline

Definition at line 464 of file voxel_grid.h.

◆ operator()() [2/2]

template<typename T >

const T & distance_field::VoxelGrid< T >::operator()	(	double	x,
		double	y,
		double	z
	)		const

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 453 of file voxel_grid.h.

◆ ref()

template<typename T >

int distance_field::VoxelGrid< T >::ref	(	int	x,
		int	y,
		int	z
	)		const

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 423 of file voxel_grid.h.

◆ reset()

template<typename T >

void distance_field::VoxelGrid< T >::reset ( const T & initial )

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 532 of file voxel_grid.h.

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◆ resize()

template<typename T >

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 364 of file voxel_grid.h.

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◆ setCell() [1/2]

template<typename T >

void distance_field::VoxelGrid< T >::setCell	(	const Eigen::Vector3i &	pos,
		const T &	obj
	)

inline

Definition at line 500 of file voxel_grid.h.

◆ setCell() [2/2]

template<typename T >

void distance_field::VoxelGrid< T >::setCell	(	int	x,
		int	y,
		int	z,
		const T &	obj
	)

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 494 of file voxel_grid.h.

◆ worldToGrid() [1/2]

template<typename T >

bool distance_field::VoxelGrid< T >::worldToGrid	(	const Eigen::Vector3d &	world,
		Eigen::Vector3i &	grid
	)		const

inline

Definition at line 563 of file voxel_grid.h.

◆ worldToGrid() [2/2]

template<typename T >

bool distance_field::VoxelGrid< T >::worldToGrid	(	double	world_x,
		double	world_y,
		double	world_z,
		int &	x,
		int &	y,
		int &	z
	)		const

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 554 of file voxel_grid.h.

Member Data Documentation

◆ data_

template<typename T >

T* distance_field::VoxelGrid< T >::data_

protected

Storage for the full set of data elements.

Definition at line 286 of file voxel_grid.h.

◆ data_ptrs_

template<typename T >

T*** distance_field::VoxelGrid< T >::data_ptrs_

protected

3D array of pointers to the data elements

Definition at line 288 of file voxel_grid.h.

◆ default_object_

template<typename T >

T distance_field::VoxelGrid< T >::default_object_

protected

The default object to return in case of out-of-bounds query.

Definition at line 287 of file voxel_grid.h.

◆ num_cells_

template<typename T >

int distance_field::VoxelGrid< T >::num_cells_[3]

protected

The number of cells in each dimension (in Dimension order)

Definition at line 294 of file voxel_grid.h.

◆ num_cells_total_

template<typename T >

int distance_field::VoxelGrid< T >::num_cells_total_

protected

The total number of voxels in the grid.

Definition at line 295 of file voxel_grid.h.

◆ oo_resolution_

template<typename T >

double distance_field::VoxelGrid< T >::oo_resolution_

protected

1.0/resolution_

Definition at line 291 of file voxel_grid.h.

◆ origin_

template<typename T >

double distance_field::VoxelGrid< T >::origin_[3]

protected

The origin (minimum point) of each dimension in meters (in Dimension order)

Definition at line 292 of file voxel_grid.h.

◆ origin_minus_

template<typename T >

double distance_field::VoxelGrid< T >::origin_minus_[3]

protected

origin - 0.5/resolution

Definition at line 293 of file voxel_grid.h.

◆ resolution_

template<typename T >

double distance_field::VoxelGrid< T >::resolution_

protected

The resolution of each dimension in meters (in Dimension order)

Definition at line 290 of file voxel_grid.h.

◆ size_

template<typename T >

double distance_field::VoxelGrid< T >::size_[3]

protected

The size of each dimension in meters (in Dimension order)

Definition at line 289 of file voxel_grid.h.

◆ stride1_

template<typename T >

int distance_field::VoxelGrid< T >::stride1_

protected

The step to take when stepping between consecutive X members in the 1D array.

Definition at line 296 of file voxel_grid.h.

◆ stride2_

template<typename T >

int distance_field::VoxelGrid< T >::stride2_

protected

The step to take when stepping between consecutive Y members given an X in the 1D array.

Definition at line 297 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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

◆ ~VoxelGrid()

◆ VoxelGrid() [2/2]

Member Function Documentation

◆ getCell() [1/4]

◆ getCell() [2/4]

◆ getCell() [3/4]

◆ getCell() [4/4]

◆ getCellFromLocation()

◆ getLocationFromCell()

◆ getNumCells()

◆ getOrigin()

◆ getResolution()

◆ getSize()

◆ gridToWorld() [1/2]

◆ gridToWorld() [2/2]

◆ isCellValid() [1/3]

◆ isCellValid() [2/3]

◆ isCellValid() [3/3]

◆ MOVEIT_DECLARE_PTR_MEMBER()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ ref()

◆ reset()

◆ resize()

◆ setCell() [1/2]

◆ setCell() [2/2]

◆ worldToGrid() [1/2]

◆ worldToGrid() [2/2]

Member Data Documentation

◆ data_

◆ data_ptrs_

◆ default_object_

◆ num_cells_

◆ num_cells_total_

◆ oo_resolution_

◆ origin_

◆ origin_minus_

◆ resolution_

◆ size_

◆ stride1_

◆ stride2_