Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...

#include <hpp/fcl/octree.h>

Inheritance diagram for hpp::fcl::OcTree:

Collaboration diagram for hpp::fcl::OcTree:

Public Types
typedef octomap::OcTreeNode	OcTreeNode

Public Member Functions
	OcTree (FCL_REAL resolution)
	construct octree with a given resolution More...

	OcTree (const boost::shared_ptr< const octomap::OcTree > &tree_)
	construct octree from octomap More...

void	computeLocalAABB ()
	compute the AABB for the octree in its local coordinate system More...

AABB	getRootBV () const
	get the bounding volume for the root More...

OcTreeNode *	getRoot () const
	get the root node of the octree More...

bool	isNodeOccupied (const OcTreeNode *node) const
	whether one node is completely occupied More...

bool	isNodeFree (const OcTreeNode *node) const
	whether one node is completely free More...

bool	isNodeUncertain (const OcTreeNode *node) const
	whether one node is uncertain More...

std::vector< boost::array< FCL_REAL, 6 > >	toBoxes () const
	transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. More...

FCL_REAL	getOccupancyThres () const
	the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold More...

FCL_REAL	getFreeThres () const
	the threshold used to decide whether one node is occupied, this is NOT the octree free_threshold More...

FCL_REAL	getDefaultOccupancy () const

void	setCellDefaultOccupancy (FCL_REAL d)

void	setOccupancyThres (FCL_REAL d)

void	setFreeThres (FCL_REAL d)

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx)

const OcTreeNode *	getNodeChild (const OcTreeNode *node, unsigned int childIdx) const

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const
	return true if the child at childIdx exists More...

bool	nodeHasChildren (const OcTreeNode *node) const
	return true if node has at least one child More...

OBJECT_TYPE	getObjectType () const
	return object type, it is an octree More...

NODE_TYPE	getNodeType () const
	return node type, it is an octree More...

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

virtual	~CollisionGeometry ()

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

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

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

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

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

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

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

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

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

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

Octree is one type of collision geometry which can encode uncertainty information in the sensor data.

Member Typedef Documentation

typedef octomap::OcTreeNode hpp::fcl::OcTree::OcTreeNode

Constructor & Destructor Documentation

hpp::fcl::OcTree::OcTree ( FCL_REAL resolution )

inline

construct octree with a given resolution

hpp::fcl::OcTree::OcTree ( const boost::shared_ptr< const octomap::OcTree > & tree_ )

inline

construct octree from octomap

Member Function Documentation

void hpp::fcl::OcTree::computeLocalAABB ( )

inlinevirtual

compute the AABB for the octree in its local coordinate system

Implements hpp::fcl::CollisionGeometry.

References hpp::fcl::CollisionGeometry::aabb_center, hpp::fcl::CollisionGeometry::aabb_local, hpp::fcl::CollisionGeometry::aabb_radius, hpp::fcl::AABB::center(), getRootBV(), and hpp::fcl::AABB::min_.

FCL_REAL hpp::fcl::OcTree::getDefaultOccupancy ( ) const

inline

FCL_REAL hpp::fcl::OcTree::getFreeThres ( ) const

inline

the threshold used to decide whether one node is occupied, this is NOT the octree free_threshold

OcTreeNode* hpp::fcl::OcTree::getNodeChild	(	OcTreeNode *	node,
		unsigned int	childIdx
	)

inline

Returns: ptr to child number childIdx of node

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

const OcTreeNode* hpp::fcl::OcTree::getNodeChild	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

Returns: const ptr to child number childIdx of node

NODE_TYPE hpp::fcl::OcTree::getNodeType ( ) const

inlinevirtual

return node type, it is an octree

Reimplemented from hpp::fcl::CollisionGeometry.

References hpp::fcl::GEOM_OCTREE.

OBJECT_TYPE hpp::fcl::OcTree::getObjectType ( ) const

inlinevirtual

return object type, it is an octree

Reimplemented from hpp::fcl::CollisionGeometry.

References hpp::fcl::OT_OCTREE.

FCL_REAL hpp::fcl::OcTree::getOccupancyThres ( ) const

inline

the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

OcTreeNode* hpp::fcl::OcTree::getRoot ( ) const

inline

get the root node of the octree

AABB hpp::fcl::OcTree::getRootBV ( ) const

inline

get the bounding volume for the root

bool hpp::fcl::OcTree::isNodeFree ( const OcTreeNode * node ) const

inline

whether one node is completely free

Referenced by isNodeUncertain(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

bool hpp::fcl::OcTree::isNodeOccupied ( const OcTreeNode * node ) const

inline

whether one node is completely occupied

Referenced by isNodeUncertain(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), and toBoxes().

bool hpp::fcl::OcTree::isNodeUncertain ( const OcTreeNode * node ) const

inline

whether one node is uncertain

References isNodeFree(), and isNodeOccupied().

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

bool hpp::fcl::OcTree::nodeChildExists	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

return true if the child at childIdx exists

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

bool hpp::fcl::OcTree::nodeHasChildren ( const OcTreeNode * node ) const

inline

return true if node has at least one child

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

void hpp::fcl::OcTree::setCellDefaultOccupancy ( FCL_REAL d )

inline

void hpp::fcl::OcTree::setFreeThres ( FCL_REAL d )

inline

void hpp::fcl::OcTree::setOccupancyThres ( FCL_REAL d )

inline

std::vector<boost::array<FCL_REAL, 6> > hpp::fcl::OcTree::toBoxes ( ) const

inline

transform the octree into a bunch of boxes; uncertainty information is kept in the boxes.

However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).

References isNodeOccupied().

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation