Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...

#include <coal/hfield.h>

Inheritance diagram for coal::HeightField< BV >:

Collaboration diagram for coal::HeightField< BV >:

Public Types
typedef HFNode< BV >	Node

typedef std::vector< Node, Eigen::aligned_allocator< Node > >	BVS

Public Member Functions
	HeightField ()
	Constructing an empty HeightField. More...

	HeightField (const Scalar x_dim, const Scalar y_dim, const MatrixXs &heights, const Scalar min_height=(Scalar) 0)
	Constructing an HeightField from its base dimensions and the set of heights points. The granularity of the height field along X and Y direction is extraded from the Z grid. More...

	HeightField (const HeightField &other)
	Copy contructor from another HeightField. More...

const VecXs &	getXGrid () const
	Returns a const reference of the grid along the X direction. More...

const VecXs &	getYGrid () const
	Returns a const reference of the grid along the Y direction. More...

const MatrixXs &	getHeights () const
	Returns a const reference of the heights. More...

Scalar	getXDim () const
	Returns the dimension of the Height Field along the X direction. More...

Scalar	getYDim () const
	Returns the dimension of the Height Field along the Y direction. More...

Scalar	getMinHeight () const
	Returns the minimal height value of the Height Field. More...

Scalar	getMaxHeight () const
	Returns the maximal height value of the Height Field. More...

virtual HeightField< BV > *	clone () const
	Clone *this into a new CollisionGeometry. More...

const BVS &	getNodes () const

virtual	~HeightField ()
	deconstruction, delete mesh data related. More...

void	computeLocalAABB ()
	Compute the AABB for the HeightField, used for broad-phase collision. More...

void	updateHeights (const MatrixXs &new_heights)
	Update Height Field height. More...

const HFNode< BV > &	getBV (unsigned int i) const
	Access the bv giving the its index. More...

HFNode< BV > &	getBV (unsigned int i)
	Access the bv giving the its index. More...

NODE_TYPE	getNodeType () const
	Get the BV type: default is unknown. More...

NODE_TYPE	getNodeType () const
	Specialization of getNodeType() for HeightField with different BV types. More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor. More...

virtual	~CollisionGeometry ()

bool	operator== (const CollisionGeometry &other) const
	Equality operator. More...

bool	operator!= (const CollisionGeometry &other) const
	Difference operator. More...

void *	getUserData () const
	get user data in geometry More...

void	setUserData (void *data)
	set user data in geometry More...

bool	isOccupied () const
	whether the object is completely occupied More...

bool	isFree () const
	whether the object is completely free More...

bool	isUncertain () const
	whether the object has some uncertainty More...

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CollisionGeometry	Base

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate. More...

Scalar	aabb_radius
	AABB radius. More...

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

void *	user_data
	pointer to user defined data specific to this object More...

Scalar	cost_density
	collision cost for unit volume More...

Scalar	threshold_occupied
	threshold for occupied ( >= is occupied) More...

Scalar	threshold_free
	threshold for free (<= is free) More...

Protected Member Functions
void	init (const Scalar x_dim, const Scalar y_dim, const MatrixXs &heights, const Scalar min_height)

OBJECT_TYPE	getObjectType () const
	Get the object type: it is a HFIELD. More...

Vec3s	computeCOM () const
	compute center of mass More...

Scalar	computeVolume () const
	compute the volume More...

Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

int	buildTree ()
	Build the bounding volume hierarchy. More...

Scalar	recursiveUpdateHeight (const size_t bv_id)

Scalar	recursiveBuildTree (const size_t bv_id, const Eigen::DenseIndex x_id, const Eigen::DenseIndex x_size, const Eigen::DenseIndex y_id, const Eigen::DenseIndex y_size)

Protected Attributes
Scalar	x_dim
	Dimensions in meters along X and Y directions. More...

Scalar	y_dim

MatrixXs	heights
	Elevation values in meters of the Height Field. More...

Scalar	min_height
	Minimal height of the Height Field: all values bellow min_height will be discarded. More...

Scalar	max_height

VecXs	x_grid
	Grids along the X and Y directions. Useful for plotting or other related things. More...

VecXs	y_grid

BVS	bvs
	Bounding volume hierarchy. More...

unsigned int	num_bvs

Detailed Description

template<typename BV>
class coal::HeightField< BV >

Data structure depicting a height field given by the base grid dimensions and the elevation along the grid.

Template Parameters

BV	one of the bounding volume class in Bounding volumes.

An height field is defined by its base dimensions along the X and Y axes and a set ofpoints defined by their altitude, regularly dispatched on the grid. The height field is centered at the origin and the corners of the geometry correspond to the following coordinates [± x_dim/2; ± y_dim/2].

Member Typedef Documentation

◆ BVS

template<typename BV >

typedef std::vector<Node, Eigen::aligned_allocator<Node> > coal::HeightField< BV >::BVS

◆ Node

template<typename BV >

typedef HFNode<BV> coal::HeightField< BV >::Node

Constructor & Destructor Documentation

◆ HeightField() [1/3]

template<typename BV >

coal::HeightField< BV >::HeightField ( )

inline

Constructing an empty HeightField.

◆ HeightField() [2/3]

template<typename BV >

coal::HeightField< BV >::HeightField	(	const Scalar	x_dim,
		const Scalar	y_dim,
		const MatrixXs &	heights,
		const Scalar	min_height = `(Scalar)0`
	)

inline

Constructing an HeightField from its base dimensions and the set of heights points. The granularity of the height field along X and Y direction is extraded from the Z grid.

Parameters

[in]	x_dim	Dimension along the X axis
[in]	y_dim	Dimension along the Y axis
[in]	heights	Matrix containing the altitude of each point compositng the height field
[in]	min_height	Minimal height of the height field

◆ HeightField() [3/3]

template<typename BV >

coal::HeightField< BV >::HeightField ( const HeightField< BV > & other )

inline

Copy contructor from another HeightField.

Parameters

[in] other to copy.

◆ ~HeightField()

template<typename BV >

virtual coal::HeightField< BV >::~HeightField ( )

inlinevirtual

deconstruction, delete mesh data related.

Member Function Documentation

◆ buildTree()

template<typename BV >

int coal::HeightField< BV >::buildTree ( )

inlineprotected

Build the bounding volume hierarchy.

◆ clone()

template<typename BV >

virtual HeightField<BV>* coal::HeightField< BV >::clone ( ) const

inlinevirtual

Clone *this into a new CollisionGeometry.

Implements coal::CollisionGeometry.

◆ computeCOM()

template<typename BV >

Vec3s coal::HeightField< BV >::computeCOM ( ) const

inlineprotectedvirtual

compute center of mass

Reimplemented from coal::CollisionGeometry.

◆ computeLocalAABB()

template<typename BV >

void coal::HeightField< BV >::computeLocalAABB ( )

inlinevirtual

Compute the AABB for the HeightField, used for broad-phase collision.

Implements coal::CollisionGeometry.

◆ computeMomentofInertia()

template<typename BV >

Matrix3s coal::HeightField< BV >::computeMomentofInertia ( ) const

inlineprotectedvirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeVolume()

template<typename BV >

Scalar coal::HeightField< BV >::computeVolume ( ) const

inlineprotectedvirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ getBV() [1/2]

template<typename BV >

HFNode<BV>& coal::HeightField< BV >::getBV ( unsigned int i )

inline

Access the bv giving the its index.

◆ getBV() [2/2]

template<typename BV >

const HFNode<BV>& coal::HeightField< BV >::getBV ( unsigned int i ) const

inline

Access the bv giving the its index.

◆ getHeights()

template<typename BV >

const MatrixXs& coal::HeightField< BV >::getHeights ( ) const

inline

Returns a const reference of the heights.

◆ getMaxHeight()

template<typename BV >

Scalar coal::HeightField< BV >::getMaxHeight ( ) const

inline

Returns the maximal height value of the Height Field.

◆ getMinHeight()

template<typename BV >

Scalar coal::HeightField< BV >::getMinHeight ( ) const

inline

Returns the minimal height value of the Height Field.

◆ getNodes()

template<typename BV >

const BVS& coal::HeightField< BV >::getNodes ( ) const

inline

◆ getNodeType() [1/9]

template<typename BV >

NODE_TYPE coal::HeightField< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [2/9]

NODE_TYPE coal::HeightField< AABB >::getNodeType ( ) const

virtual

Specialization of getNodeType() for HeightField with different BV types.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [3/9]

NODE_TYPE coal::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [4/9]

NODE_TYPE coal::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [5/9]

NODE_TYPE coal::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [6/9]

NODE_TYPE coal::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [7/9]

NODE_TYPE coal::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [8/9]

NODE_TYPE coal::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [9/9]

NODE_TYPE coal::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getObjectType()

template<typename BV >

OBJECT_TYPE coal::HeightField< BV >::getObjectType ( ) const

inlineprotectedvirtual

Get the object type: it is a HFIELD.

Reimplemented from coal::CollisionGeometry.

◆ getXDim()

template<typename BV >

Scalar coal::HeightField< BV >::getXDim ( ) const

inline

Returns the dimension of the Height Field along the X direction.

◆ getXGrid()

template<typename BV >

const VecXs& coal::HeightField< BV >::getXGrid ( ) const

inline

Returns a const reference of the grid along the X direction.

◆ getYDim()

template<typename BV >

Scalar coal::HeightField< BV >::getYDim ( ) const

inline

Returns the dimension of the Height Field along the Y direction.

◆ getYGrid()

template<typename BV >

const VecXs& coal::HeightField< BV >::getYGrid ( ) const

inline

Returns a const reference of the grid along the Y direction.

◆ init()

template<typename BV >

void coal::HeightField< BV >::init	(	const Scalar	x_dim,
		const Scalar	y_dim,
		const MatrixXs &	heights,
		const Scalar	min_height
	)

inlineprotected

◆ recursiveBuildTree()

template<typename BV >

Scalar coal::HeightField< BV >::recursiveBuildTree	(	const size_t	bv_id,
		const Eigen::DenseIndex	x_id,
		const Eigen::DenseIndex	x_size,
		const Eigen::DenseIndex	y_id,
		const Eigen::DenseIndex	y_size
	)

inlineprotected

◆ recursiveUpdateHeight()

template<typename BV >

Scalar coal::HeightField< BV >::recursiveUpdateHeight ( const size_t bv_id )

inlineprotected

◆ updateHeights()

template<typename BV >

void coal::HeightField< BV >::updateHeights ( const MatrixXs & new_heights )

inline

Update Height Field height.

Member Data Documentation

◆ Base

template<typename BV >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CollisionGeometry coal::HeightField< BV >::Base

◆ bvs

template<typename BV >

BVS coal::HeightField< BV >::bvs

protected

Bounding volume hierarchy.

◆ heights

template<typename BV >

MatrixXs coal::HeightField< BV >::heights

protected

Elevation values in meters of the Height Field.

◆ max_height

template<typename BV >

Scalar coal::HeightField< BV >::max_height

protected

◆ min_height

template<typename BV >

Scalar coal::HeightField< BV >::min_height

protected

Minimal height of the Height Field: all values bellow min_height will be discarded.

◆ num_bvs

template<typename BV >

unsigned int coal::HeightField< BV >::num_bvs

protected

◆ x_dim

template<typename BV >

Scalar coal::HeightField< BV >::x_dim

protected

Dimensions in meters along X and Y directions.

◆ x_grid

template<typename BV >

VecXs coal::HeightField< BV >::x_grid

protected

Grids along the X and Y directions. Useful for plotting or other related things.

◆ y_dim

template<typename BV >

Scalar coal::HeightField< BV >::y_dim

protected

◆ y_grid

template<typename BV >

VecXs coal::HeightField< BV >::y_grid

protected

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

include/coal/hfield.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename BV> class coal::HeightField< BV >

Member Typedef Documentation

◆ BVS

◆ Node

Constructor & Destructor Documentation

◆ HeightField() [1/3]

◆ HeightField() [2/3]

◆ HeightField() [3/3]

◆ ~HeightField()

Member Function Documentation

◆ buildTree()

◆ clone()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ getBV() [1/2]

◆ getBV() [2/2]

◆ getHeights()

◆ getMaxHeight()

◆ getMinHeight()

◆ getNodes()

◆ getNodeType() [1/9]

◆ getNodeType() [2/9]

◆ getNodeType() [3/9]

◆ getNodeType() [4/9]

◆ getNodeType() [5/9]

◆ getNodeType() [6/9]

◆ getNodeType() [7/9]

◆ getNodeType() [8/9]

◆ getNodeType() [9/9]

◆ getObjectType()

◆ getXDim()

◆ getXGrid()

◆ getYDim()

◆ getYGrid()

◆ init()

◆ recursiveBuildTree()

◆ recursiveUpdateHeight()

◆ updateHeights()

Member Data Documentation

◆ Base

◆ bvs

◆ heights

◆ max_height

◆ min_height

◆ num_bvs

◆ x_dim

◆ x_grid

◆ y_dim

◆ y_grid

template<typename BV>
class coal::HeightField< BV >