moveit2
The MoveIt Motion Planning Framework for ROS 2.
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collision_octomap_filter.cpp File Reference
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_octomap_filter.h>
#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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