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boost::serialization::internal::HeightFieldAccessor< BV > Struct Template Reference
#include <coal/serialization/hfield.h>
Inheritance diagram for boost::serialization::internal::HeightFieldAccessor< BV >:
Collaboration diagram for boost::serialization::internal::HeightFieldAccessor< BV >:
Public Types | |
| typedef coal::HeightField< BV > | Base |
 Public Types inherited from coal::HeightField< BV > | |
| typedef HFNode< BV > | Node |
| typedef std::vector< Node, Eigen::aligned_allocator< Node > > | BVS |
Public Attributes | |
| BVS | bvs |
| Bounding volume hierarchy. | |
| MatrixXs | heights |
| Elevation values in meters of the Height Field. | |
| Scalar | max_height |
| Scalar | min_height |
| Minimal height of the Height Field: all values bellow min_height will be discarded. | |
| unsigned int | num_bvs |
| Scalar | x_dim |
| Dimensions in meters along X and Y directions. | |
| VecXs | x_grid |
| Grids along the X and Y directions. Useful for plotting or other related things. | |
| Scalar | y_dim |
| VecXs | y_grid |
| Public Attributes inherited from coal::HeightField< BV > | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CollisionGeometry | Base |
| Public Attributes inherited from coal::CollisionGeometry | |
| Vec3s | aabb_center |
| AABB center in local coordinate. | |
| Scalar | aabb_radius |
| AABB radius. | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. | |
| void * | user_data |
| pointer to user defined data specific to this object | |
| Scalar | cost_density |
| collision cost for unit volume | |
| Scalar | threshold_occupied |
| threshold for occupied ( >= is occupied) | |
| Scalar | threshold_free |
| threshold for free (<= is free) | |
Additional Inherited Members | |
| Public Member Functions inherited from coal::HeightField< BV > | |
| HeightField () | |
| Constructing an empty HeightField. | |
| 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. | |
| HeightField (const HeightField &other) | |
| Copy contructor from another HeightField. | |
| const VecXs & | getXGrid () const |
| Returns a const reference of the grid along the X direction. | |
| const VecXs & | getYGrid () const |
| Returns a const reference of the grid along the Y direction. | |
| const MatrixXs & | getHeights () const |
| Returns a const reference of the heights. | |
| Scalar | getXDim () const |
| Returns the dimension of the Height Field along the X direction. | |
| Scalar | getYDim () const |
| Returns the dimension of the Height Field along the Y direction. | |
| Scalar | getMinHeight () const |
| Returns the minimal height value of the Height Field. | |
| Scalar | getMaxHeight () const |
| Returns the maximal height value of the Height Field. | |
| virtual HeightField< BV > * | clone () const |
| Clone *this into a new CollisionGeometry. | |
| const BVS & | getNodes () const |
| virtual | ~HeightField () |
| deconstruction, delete mesh data related. | |
| void | computeLocalAABB () |
| Compute the AABB for the HeightField, used for broad-phase collision. | |
| void | updateHeights (const MatrixXs &new_heights) |
| Update Height Field height. | |
| const HFNode< BV > & | getBV (unsigned int i) const |
| Access the bv giving the its index. | |
| HFNode< BV > & | getBV (unsigned int i) |
| Access the bv giving the its index. | |
| NODE_TYPE | getNodeType () const |
| Get the BV type: default is unknown. | |
| NODE_TYPE | getNodeType () const |
| Specialization of getNodeType() for HeightField with different BV types. | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| Public Member Functions inherited from coal::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. | |
| virtual | ~CollisionGeometry () |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. | |
| void * | getUserData () const |
| get user data in geometry | |
| void | setUserData (void *data) |
| set user data in geometry | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isUncertain () const |
| whether the object has some uncertainty | |
| virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com | |
| Protected Member Functions inherited from coal::HeightField< BV > | |
| 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. | |
| Vec3s | computeCOM () const |
| compute center of mass | |
| Scalar | computeVolume () const |
| compute the volume | |
| Matrix3s | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin | |
| int | buildTree () |
| Build the bounding volume hierarchy. | |
| 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 inherited from coal::HeightField< BV > | |
| Scalar | x_dim |
| Dimensions in meters along X and Y directions. | |
| Scalar | y_dim |
| MatrixXs | heights |
| Elevation values in meters of the Height Field. | |
| Scalar | min_height |
| Minimal height of the Height Field: all values bellow min_height will be discarded. | |
| Scalar | max_height |
| VecXs | x_grid |
| Grids along the X and Y directions. Useful for plotting or other related things. | |
| VecXs | y_grid |
| BVS | bvs |
| Bounding volume hierarchy. | |
| unsigned int | num_bvs |
Member Typedef Documentation
◆ Base
template<typename BV >
| typedef coal::HeightField<BV> boost::serialization::internal::HeightFieldAccessor< BV >::Base |
Member Data Documentation
◆ bvs
template<typename BV >
| BVS coal::HeightField< BV >::bvs |
Bounding volume hierarchy.
◆ heights
template<typename BV >
| MatrixXs coal::HeightField< BV >::heights |
Elevation values in meters of the Height Field.
◆ max_height
template<typename BV >
| Scalar coal::HeightField< BV >::max_height |
◆ min_height
template<typename BV >
| Scalar coal::HeightField< BV >::min_height |
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 |
◆ x_dim
template<typename BV >
| Scalar coal::HeightField< BV >::x_dim |
Dimensions in meters along X and Y directions.
◆ x_grid
template<typename BV >
| VecXs coal::HeightField< BV >::x_grid |
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 |
◆ y_grid
template<typename BV >
| VecXs coal::HeightField< BV >::y_grid |
The documentation for this struct was generated from the following file:
- include/coal/serialization/hfield.h
