moveit2
The MoveIt Motion Planning Framework for ROS 2.

Namespace for holding classes that generate distance fields. More...
Classes  
class  DistanceField 
DistanceField is an abstract base class for computing distances from sets of 3D obstacle points. The distance assigned to a freespace cell should be the distance to the closest obstacle cell. Cells that are obstacle cells should either be marked as zero distance, or may have a negative distance if a signed version of the distance field is being used and an obstacle point is internal to an obstacle volume. More...  
struct  CompareEigenVector3i 
Struct for sorting type Eigen::Vector3i for use in sorted std containers. Sorts in z order, then y order, then x order. More...  
struct  PropDistanceFieldVoxel 
Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...  
class  PropagationDistanceField 
A DistanceField implementation that uses a vector propagation method. Distances propagate outward from occupied cells, or inwards from unoccupied cells if negative distances are to be computed, which is optional. Outward and inward propagation only occur to a desired maximum distance  cells that are more than this maximum distance from the nearest cell will have maximum distance measurements. More...  
class  VoxelGrid 
VoxelGrid holds a dense 3D, axisaligned set of data at a given resolution, where the data is supplied as a template parameter. More...  
Enumerations  
enum  PlaneVisualizationType { XY_PLANE , XZ_PLANE , YZ_PLANE } 
The plane to visualize. More...  
enum  Dimension { DIM_X = 0 , DIM_Y = 1 , DIM_Z = 2 } 
Specifies dimension of different axes. More...  
Functions  
MOVEIT_CLASS_FORWARD (DistanceField)  
void  findInternalPointsConvex (const bodies::Body &body, double resolution, EigenSTL::vector_Vector3d &points) 
Find all points on a regular grid that are internal to the body, assuming the body is a convex shape. If the body is not convex then its convex hull is used. More...  
Namespace for holding classes that generate distance fields.
Distance fields are dense 3D representations containing the distance to the nearest obstacles.
Specifies dimension of different axes.
Enumerator  

DIM_X  
DIM_Y  
DIM_Z 
Definition at line 47 of file voxel_grid.h.
The plane to visualize.
Enumerator  

XY_PLANE  
XZ_PLANE  
YZ_PLANE 
Definition at line 68 of file distance_field.h.
void distance_field::findInternalPointsConvex  (  const bodies::Body &  body, 
double  resolution,  
EigenSTL::vector_Vector3d &  points  
) 
Find all points on a regular grid that are internal to the body, assuming the body is a convex shape. If the body is not convex then its convex hull is used.
[in]  body  The body to discretize 
[in]  resolution  The resolution at which to test 
[out]  points  The points internal to the body are appended to thiss vector. 
Definition at line 39 of file find_internal_points.cpp.
distance_field::MOVEIT_CLASS_FORWARD  (  DistanceField  ) 