#include <drake/planning/experimental/voxel_occupancy_map.h>

Public Member Functions
	VoxelOccupancyMap ()
	Default constructor creates an empty VoxelOccupancyMap.
	VoxelOccupancyMap (const std::string &parent_body_name, const math::RigidTransformd &X_PG, const Eigen::Vector3d &grid_dimensions, double grid_resolution, float default_occupancy)
	Construct a VoxelOccupancyMap filled with cells of default_occupancy and default_object_id.
	VoxelOccupancyMap (const std::string &parent_body_name, const math::RigidTransformd &X_PG, const Eigen::Matrix< int64_t, 3, 1 > &grid_counts, double grid_resolution, float default_occupancy)
	Construct a VoxelOccupancyMap filled with cells of default_occupancy and default_object_id.
	VoxelOccupancyMap (const VoxelOccupancyMap &other)
	VoxelOccupancyMap provides copy, move, and assignment.
	VoxelOccupancyMap (VoxelOccupancyMap &&other)
VoxelOccupancyMap &	operator= (const VoxelOccupancyMap &other)
VoxelOccupancyMap &	operator= (VoxelOccupancyMap &&other)
VoxelSignedDistanceField	ExportSignedDistanceField (const VoxelSignedDistanceField::GenerationParameters &parameters={}) const
	Construct a voxelized signed distance field from this using the provided parameters parameters.
const std::string &	parent_body_name () const
	Get the name of the parent body frame.
bool	is_empty () const
	Returns true if empty.
const void *	internal_representation () const
void *	mutable_internal_representation ()

Constructor & Destructor Documentation

◆ VoxelOccupancyMap() [1/5]

VoxelOccupancyMap ( )

Default constructor creates an empty VoxelOccupancyMap.

◆ VoxelOccupancyMap() [2/5]

VoxelOccupancyMap	(	const std::string &	parent_body_name,
		const math::RigidTransformd &	X_PG,
		const Eigen::Vector3d &	grid_dimensions,
		double	grid_resolution,
		float	default_occupancy )

Construct a VoxelOccupancyMap filled with cells of default_occupancy and default_object_id.

parent_body_name specifies the name of the parent body, and X_PG specifies the pose of the origin of the voxel grid relative to the parent body frame. grid_dimensions specifies the nominal dimensions of the voxel grid, and grid_resolution specifies the size of an individual voxel. If you specify dimensions that are not evenly divisible by grid_resolution, you will get a larger grid with num_cells = ceil(dimension/resolution).

◆ VoxelOccupancyMap() [3/5]

VoxelOccupancyMap	(	const std::string &	parent_body_name,
		const math::RigidTransformd &	X_PG,
		const Eigen::Matrix< int64_t, 3, 1 > &	grid_counts,
		double	grid_resolution,
		float	default_occupancy )

Construct a VoxelOccupancyMap filled with cells of default_occupancy and default_object_id.

parent_body_name specifies the name of the parent body, and X_PG specifies the pose of the origin of the voxel grid relative to the parent body frame. grid_counts specifies the number of voxels for each axis of the voxel grid, and grid_resolution specifies the size of an individual voxel.

◆ VoxelOccupancyMap() [4/5]

VoxelOccupancyMap ( const VoxelOccupancyMap & other )

VoxelOccupancyMap provides copy, move, and assignment.

◆ VoxelOccupancyMap() [5/5]

VoxelOccupancyMap ( VoxelOccupancyMap && other )

Member Function Documentation

◆ ExportSignedDistanceField()

VoxelSignedDistanceField ExportSignedDistanceField ( const VoxelSignedDistanceField::GenerationParameters & parameters = {} ) const

Construct a voxelized signed distance field from this using the provided parameters parameters.

◆ internal_representation()

const void * internal_representation ( ) const

◆ is_empty()

bool is_empty ( ) const

Returns true if empty.

A VoxelOccupancyMap will be empty if it is in the default constructed state or has been moved-from.

◆ mutable_internal_representation()

void * mutable_internal_representation ( )

◆ operator=() [1/2]

VoxelOccupancyMap & operator= ( const VoxelOccupancyMap & other )

◆ operator=() [2/2]

VoxelOccupancyMap & operator= ( VoxelOccupancyMap && other )

◆ parent_body_name()

const std::string & parent_body_name ( ) const

Get the name of the parent body frame.

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

drake/planning/experimental/voxel_occupancy_map.h

Public Member Functions