point_containment_filter::ShapeMask Class Reference

Computing a mask for a pointcloud that states which points are inside the robot. More...

#include <shape_mask.h>

Classes
struct	SeeShape
struct	SortBodies

Public Types
enum	{ INSIDE = 0 , OUTSIDE = 1 , CLIP = 2 }
	The possible values of a mask computed for a point. More...
typedef std::function< bool(ShapeHandle, Eigen::Isometry3d &)>	TransformCallback

Public Member Functions
	ShapeMask (const TransformCallback &transform_callback=TransformCallback())
	Construct the filter.
virtual	~ShapeMask ()
	Destructor to clean up.
ShapeHandle	addShape (const shapes::ShapeConstPtr &shape, double scale=1.0, double padding=0.0)
void	removeShape (ShapeHandle handle)
void	setTransformCallback (const TransformCallback &transform_callback)
void	maskContainment (const sensor_msgs::msg::PointCloud2 &data_in, const Eigen::Vector3d &sensor_pos, const double min_sensor_dist, const double max_sensor_dist, std::vector< int > &mask)
	Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.
int	getMaskContainment (const Eigen::Vector3d &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Protected Attributes
TransformCallback	transform_callback_
std::mutex	shapes_lock_
	Protects, bodies_ and bspheres_. All public methods acquire this mutex for their whole duration.
std::set< SeeShape, SortBodies >	bodies_
std::vector< bodies::BoundingSphere >	bspheres_

Detailed Description

Computing a mask for a pointcloud that states which points are inside the robot.

Definition at line 52 of file shape_mask.h.

Member Typedef Documentation

TransformCallback

typedef std::function<bool(ShapeHandle, Eigen::Isometry3d&)> point_containment_filter::ShapeMask::TransformCallback

Definition at line 63 of file shape_mask.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

The possible values of a mask computed for a point.

Enumerator
INSIDE
OUTSIDE
CLIP

Definition at line 56 of file shape_mask.h.

Constructor & Destructor Documentation

ShapeMask()

point_containment_filter::ShapeMask::ShapeMask

(

const TransformCallback &

transform_callback = TransformCallback()

)

Construct the filter.

Definition at line 52 of file shape_mask.cpp.

~ShapeMask()

point_containment_filter::ShapeMask::~ShapeMask ( )

virtual

Destructor to clean up.

Definition at line 57 of file shape_mask.cpp.

Member Function Documentation

addShape()

point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addShape	(	const shapes::ShapeConstPtr &	shape,
		double	scale = 1.0,
		double	padding = 0.0
	)

Definition at line 75 of file shape_mask.cpp.

getMaskContainment() [1/2]

int point_containment_filter::ShapeMask::getMaskContainment

(

const Eigen::Vector3d &

pt

)

const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 204 of file shape_mask.cpp.

getMaskContainment() [2/2]

int point_containment_filter::ShapeMask::getMaskContainment	(	double	x,
		double	y,
		double	z
	)		const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. It is assumed the point is in the frame corresponding to the TransformCallback.

Definition at line 217 of file shape_mask.cpp.

maskContainment()

void point_containment_filter::ShapeMask::maskContainment	(	const sensor_msgs::msg::PointCloud2 &	data_in,
		const Eigen::Vector3d &	sensor_pos,
		const double	min_sensor_dist,
		const double	max_sensor_dist,
		std::vector< int > &	mask
	)

Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.

Definition at line 129 of file shape_mask.cpp.

removeShape()

void point_containment_filter::ShapeMask::removeShape

(

ShapeHandle

handle

)

Definition at line 114 of file shape_mask.cpp.

setTransformCallback()

void point_containment_filter::ShapeMask::setTransformCallback

(

const TransformCallback &

transform_callback

)

Definition at line 69 of file shape_mask.cpp.

Member Data Documentation

bodies_

std::set<SeeShape, SortBodies> point_containment_filter::ShapeMask::bodies_

protected

Definition at line 120 of file shape_mask.h.

bspheres_

std::vector<bodies::BoundingSphere> point_containment_filter::ShapeMask::bspheres_

protected

Definition at line 121 of file shape_mask.h.

shapes_lock_

std::mutex point_containment_filter::ShapeMask::shapes_lock_

mutableprotected

Protects, bodies_ and bspheres_. All public methods acquire this mutex for their whole duration.

Definition at line 119 of file shape_mask.h.

transform_callback_

TransformCallback point_containment_filter::ShapeMask::transform_callback_

protected

Definition at line 116 of file shape_mask.h.

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The documentation for this class was generated from the following files:

• moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
• moveit_ros/perception/point_containment_filter/src/shape_mask.cpp