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RigidBodyHeightMapTerrain Class Reference
Inheritance diagram for RigidBodyHeightMapTerrain:
Collaboration diagram for RigidBodyHeightMapTerrain:

Public Member Functions

function RigidBodyHeightMapTerrain (x, y, Z, terrain_to_world_transform, options)
 
function getPoints (obj)
 returned in body coordinates More...
 
function getBoundingBoxPoints (obj)
 returned in body coordinates More...
 
function serializeToLCM (obj)
 
function getCollisionGeometry (obj)
 
function getVisualGeometry (obj)
 
function plotTerrain (obj)
 
function getHeight (obj, xy)
 
function writeOBJ (obj, filename)
 writes the mesh to an alias wavefront file (e.g. More...
 
function writeWRLShape (obj, fp, td)
 
- Public Member Functions inherited from RigidBodyTerrain
function RigidBodyTerrain ()
 
function getRigidBodyContactGeometry (varargin)
 
function getCollisionGeometry (obj)
 
function getRigidBodyShapeGeometry (varargin)
 
function getVisualGeometry (obj)
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 
- Public Member Functions inherited from RigidBodyGeometry
function RigidBodyGeometry (drake_shape_id, varargin)
 obj = RigidBodyGeometry(drake_shape_id) constructs a RigidBodyGeometry object with the geometry-to-body transform set to identity. More...
 
function getPatchData (obj, x_axis, y_axis, view_axis)
 output is compatible with patch for 2D viewing still returns a 3xn, but the z-axis is constant (just meant for depth ordering in the 2d figure) More...
 
function getTerrainContactPoints (obj)
 pts = getTerrainContactPoints(obj) returns the terrain contact points on this object (in body-frame). More...
 
function setColor (obj, color)
 Sets the color of the geometry for drawing. More...
 
function draw (obj, model, kinsol, body_ind)
 intentionally left blank, can be overloaded More...
 

Public Attributes

Constant Property MAX_RAYCAST_DISTANCE = 100
 max distance from scanner height to terrain when doing raycast More...
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 
- Public Attributes inherited from RigidBodyGeometry
Property T
 coordinate transform (from geometry to link coordinates) More...
 
Property c
 look like: [ R x ] [ zeros(1,3) 1 ] More...
 
Property drake_shape_id
 UNKNOWN. More...
 
Property name
 

Protected Attributes

Property x
 
Property T_world_to_terrain
 

Additional Inherited Members

- Static Public Member Functions inherited from RigidBodyGeometry
static function parseURDFNode (node, x0, rpy, model, robotnum, options)
 
static function parseSDFNode (node, x0, rpy, model, robotnum, options)
 

Constructor & Destructor Documentation

function RigidBodyHeightMapTerrain ( x  ,
,
,
terrain_to_world_transform  ,
options   
)
Parameters
terrain_to_world_transforma 4x4 transformation matrix. default I
Return values
obj

Member Function Documentation

function getBoundingBoxPoints ( obj  )

returned in body coordinates

Return values
pts
function getCollisionGeometry ( obj  )
Return values
geom
function getHeight ( obj  ,
xy   
)
virtual
Return values
z
normal

Reimplemented from RigidBodyTerrain.

function getPoints ( obj  )

returned in body coordinates

Return values
pts
function getVisualGeometry ( obj  )
Return values
geom
function plotTerrain ( obj  )
function serializeToLCM ( obj  )
Return values
geometry
function writeOBJ ( obj  ,
filename   
)

writes the mesh to an alias wavefront file (e.g.

for the viewers to parse) adapted from http://www.aleph.se/Nada/Ray/saveobjmesh.m

function writeWRLShape ( obj  ,
fp  ,
td   
)

Member Data Documentation

Constant Property MAX_RAYCAST_DISTANCE = 100

max distance from scanner height to terrain when doing raycast

Property T_world_to_terrain
protected
Property x
protected

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