Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid. More...

#include <propagation_distance_field.h>

Public Member Functions
	PropDistanceFieldVoxel ()
	Constructor. All fields left uninitialized.

	PropDistanceFieldVoxel (int distance_sq_positive, int distance_sq_negative)
	Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared.

Public Attributes
int	distance_square_
	Distance in cells to the closest obstacle, squared.

int	negative_distance_square_
	Distance in cells to the nearest unoccupied cell, squared.

Eigen::Vector3i	closest_point_
	Closest occupied cell.

Eigen::Vector3i	closest_negative_point_
	Closest unoccupied cell.

int	update_direction_
	Direction from which this voxel was updated for occupied distance propagation.

int	negative_update_direction_
	Direction from which this voxel was updated for negative distance propagation.

Static Public Attributes
static const int	UNINITIALIZED = -1
	Value that represents an uninitialized voxel.

Detailed Description

Structure that holds voxel information for the DistanceField. Will be used in VoxelGrid.

Definition at line 82 of file propagation_distance_field.h.

Constructor & Destructor Documentation

◆ PropDistanceFieldVoxel() [1/2]

distance_field::PropDistanceFieldVoxel::PropDistanceFieldVoxel ( )

inline

Constructor. All fields left uninitialized.

Definition at line 600 of file propagation_distance_field.h.

◆ PropDistanceFieldVoxel() [2/2]

distance_field::PropDistanceFieldVoxel::PropDistanceFieldVoxel	(	int	distance_sq_positive,
		int	distance_sq_negative
	)

inline

Constructor. Sets values for distance_sq_ and negative_distance_square_, and sets all remaining internal values to uninitialized. These should be integers values which represent the distance in cells squared.

Parameters

[in]	distance_sq_positive	Value to which to initialize distance_sq_ for distance to closest obstalce
[in]	distance_sq_negative	Value to which to initialize distance_sq_negative_ for distance to nearest non-obstacle cell

Definition at line 589 of file propagation_distance_field.h.