collision_octomap_filter.cpp File Reference

#include <moveit/collision_detection/collision_common.hpp>
#include <moveit/collision_detection/collision_octomap_filter.hpp>
#include <octomap/math/Vector3.h>
#include <octomap/math/Utils.h>
#include <octomap/octomap.h>
#include <geometric_shapes/shapes.h>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <memory>
#include <moveit/utils/logger.hpp>

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Functions
bool	getMetaballSurfaceProperties (const octomap::point3d_list &cloud, double spacing, double iso_value, double r_multiple, const octomath::Vector3 &contact_point, octomath::Vector3 &normal, double &depth, bool estimate_depth)
bool	findSurface (const octomap::point3d_list &cloud, double spacing, double iso_value, double r_multiple, const octomath::Vector3 &seed, octomath::Vector3 &surface_point, octomath::Vector3 &normal)
bool	sampleCloud (const octomap::point3d_list &cloud, double spacing, double r_multiple, const octomath::Vector3 &position, double &intensity, octomath::Vector3 &gradient)

Function Documentation

findSurface()

bool findSurface	(	const octomap::point3d_list &	cloud,
		double	spacing,
		double	iso_value,
		double	r_multiple,
		const octomath::Vector3 &	seed,
		octomath::Vector3 &	surface_point,
		octomath::Vector3 &	normal )

Definition at line 214 of file collision_octomap_filter.cpp.

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getMetaballSurfaceProperties()

bool getMetaballSurfaceProperties	(	const octomap::point3d_list &	cloud,
		double	spacing,
		double	iso_value,
		double	r_multiple,
		const octomath::Vector3 &	contact_point,
		octomath::Vector3 &	normal,
		double &	depth,
		bool	estimate_depth )

Definition at line 177 of file collision_octomap_filter.cpp.

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sampleCloud()

bool sampleCloud	(	const octomap::point3d_list &	cloud,
		double	spacing,
		double	r_multiple,
		const octomath::Vector3 &	position,
		double &	intensity,
		octomath::Vector3 &	gradient )

Definition at line 239 of file collision_octomap_filter.cpp.

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