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

#include <hpp/fcl/hfield.h>

Inheritance diagram for hpp::fcl::HeightField< BV >:

Collaboration diagram for hpp::fcl::HeightField< BV >:

Public Types
typedef CollisionGeometry	Base

typedef HFNode< BV >	Node

typedef std::vector< Node >	BVS

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

	HeightField (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height=(FCL_REAL) 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 VecXf &	getXGrid () const
	Returns a const reference of the grid along the X direction. More...

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

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

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

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

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

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

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

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 MatrixXf &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 hpp::fcl::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 Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Protected Member Functions
void	init (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height)

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

Vec3f	computeCOM () const
	compute center of mass More...

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

Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

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

FCL_REAL	recursiveUpdateHeight (const size_t bv_id)

FCL_REAL	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
FCL_REAL	x_dim
	Dimensions in meters along X and Y directions. More...

FCL_REAL	y_dim

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

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

FCL_REAL	max_height

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

VecXf	y_grid

BVS	bvs
	Bounding volume hierarchy. More...

unsigned int	num_bvs

Additional Inherited Members
Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

FCL_REAL	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...

FCL_REAL	cost_density
	collision cost for unit volume More...

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

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

Detailed Description

template<typename BV>
class hpp::fcl::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

◆ Base

template<typename BV >

typedef CollisionGeometry hpp::fcl::HeightField< BV >::Base

◆ BVS

template<typename BV >

typedef std::vector<Node> hpp::fcl::HeightField< BV >::BVS

◆ Node

template<typename BV >

typedef HFNode<BV> hpp::fcl::HeightField< BV >::Node

Constructor & Destructor Documentation

◆ HeightField() [1/3]

template<typename BV >

hpp::fcl::HeightField< BV >::HeightField ( )

inline

Constructing an empty HeightField.

◆ HeightField() [2/3]

template<typename BV >

hpp::fcl::HeightField< BV >::HeightField	(	const FCL_REAL	x_dim,
		const FCL_REAL	y_dim,
		const MatrixXf &	heights,
		const FCL_REAL	min_height = `(FCL_REAL)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 >

hpp::fcl::HeightField< BV >::HeightField ( const HeightField< BV > & other )

inline

Copy contructor from another HeightField.

Parameters

[in] other to copy.

◆ ~HeightField()

template<typename BV >

virtual hpp::fcl::HeightField< BV >::~HeightField ( )

inlinevirtual

deconstruction, delete mesh data related.

Member Function Documentation

◆ buildTree()

template<typename BV >

int hpp::fcl::HeightField< BV >::buildTree ( )

inlineprotected

Build the bounding volume hierarchy.

◆ clone()

template<typename BV >

virtual HeightField<BV>* hpp::fcl::HeightField< BV >::clone ( ) const

inlinevirtual

Clone *this into a new CollisionGeometry.

Implements hpp::fcl::CollisionGeometry.

◆ computeCOM()

template<typename BV >

Vec3f hpp::fcl::HeightField< BV >::computeCOM ( ) const

inlineprotectedvirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeLocalAABB()

template<typename BV >

void hpp::fcl::HeightField< BV >::computeLocalAABB ( )

inlinevirtual

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

Implements hpp::fcl::CollisionGeometry.

◆ computeMomentofInertia()

template<typename BV >

Matrix3f hpp::fcl::HeightField< BV >::computeMomentofInertia ( ) const

inlineprotectedvirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeVolume()

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::computeVolume ( ) const

inlineprotectedvirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getBV() [1/2]

template<typename BV >

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

inline

Access the bv giving the its index.

◆ getBV() [2/2]

template<typename BV >

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

inline

Access the bv giving the its index.

◆ getHeights()

template<typename BV >

const MatrixXf& hpp::fcl::HeightField< BV >::getHeights ( ) const

inline

Returns a const reference of the heights.

◆ getMaxHeight()

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::getMaxHeight ( ) const

inline

Returns the maximal height value of the Height Field.

◆ getMinHeight()

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::getMinHeight ( ) const

inline

Returns the minimal height value of the Height Field.

◆ getNodeType() [1/9]

template<typename BV >

NODE_TYPE hpp::fcl::HeightField< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [2/9]

NODE_TYPE hpp::fcl::HeightField< AABB >::getNodeType ( ) const

virtual

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

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [3/9]

NODE_TYPE hpp::fcl::HeightField< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [4/9]

NODE_TYPE hpp::fcl::HeightField< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [5/9]

NODE_TYPE hpp::fcl::HeightField< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [6/9]

NODE_TYPE hpp::fcl::HeightField< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [7/9]

NODE_TYPE hpp::fcl::HeightField< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [8/9]

NODE_TYPE hpp::fcl::HeightField< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getNodeType() [9/9]

NODE_TYPE hpp::fcl::HeightField< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getObjectType()

template<typename BV >

OBJECT_TYPE hpp::fcl::HeightField< BV >::getObjectType ( ) const

inlineprotectedvirtual

Get the object type: it is a HFIELD.

Reimplemented from hpp::fcl::CollisionGeometry.

◆ getXDim()

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::getXDim ( ) const

inline

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

◆ getXGrid()

template<typename BV >

const VecXf& hpp::fcl::HeightField< BV >::getXGrid ( ) const

inline

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

◆ getYDim()

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::getYDim ( ) const

inline

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

◆ getYGrid()

template<typename BV >

const VecXf& hpp::fcl::HeightField< BV >::getYGrid ( ) const

inline

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

◆ init()

template<typename BV >

void hpp::fcl::HeightField< BV >::init	(	const FCL_REAL	x_dim,
		const FCL_REAL	y_dim,
		const MatrixXf &	heights,
		const FCL_REAL	min_height
	)

inlineprotected

◆ recursiveBuildTree()

template<typename BV >

FCL_REAL hpp::fcl::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 >

FCL_REAL hpp::fcl::HeightField< BV >::recursiveUpdateHeight ( const size_t bv_id )

inlineprotected

◆ updateHeights()

template<typename BV >

void hpp::fcl::HeightField< BV >::updateHeights ( const MatrixXf & new_heights )

inline

Update Height Field height.

Member Data Documentation

◆ bvs

template<typename BV >

BVS hpp::fcl::HeightField< BV >::bvs

protected

Bounding volume hierarchy.

◆ heights

template<typename BV >

MatrixXf hpp::fcl::HeightField< BV >::heights

protected

Elevation values in meters of the Height Field.

◆ max_height

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::max_height

protected

◆ min_height

template<typename BV >

FCL_REAL hpp::fcl::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 hpp::fcl::HeightField< BV >::num_bvs

protected

◆ x_dim

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::x_dim

protected

Dimensions in meters along X and Y directions.

◆ x_grid

template<typename BV >

VecXf hpp::fcl::HeightField< BV >::x_grid

protected

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

◆ y_dim

template<typename BV >

FCL_REAL hpp::fcl::HeightField< BV >::y_dim

protected

◆ y_grid

template<typename BV >

VecXf hpp::fcl::HeightField< BV >::y_grid

protected

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

include/hpp/fcl/hfield.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename BV> class hpp::fcl::HeightField< BV >

Member Typedef Documentation

◆ Base

◆ 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()

◆ 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

◆ bvs

◆ heights

◆ max_height

◆ min_height

◆ num_bvs

◆ x_dim

◆ x_grid

◆ y_dim

◆ y_grid

template<typename BV>
class hpp::fcl::HeightField< BV >