voxelized_environment_builder.h File Reference

#include <algorithm>
#include <functional>
#include <map>
#include <memory>
#include <optional>
#include <string>
#include <unordered_set>
#include <vector>
#include <Eigen/Geometry>
#include "drake/common/parallelism.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/planning/experimental/voxel_occupancy_map.h"
#include "drake/planning/experimental/voxel_tagged_object_occupancy_map.h"

Include dependency graph for voxelized_environment_builder.h:

Namespaces
namespace	drake
namespace	drake::planning
namespace	drake::planning::experimental

Functions
VoxelOccupancyMap	BuildOccupancyMap (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context, const std::unordered_set< geometry::GeometryId > &geometries_to_ignore, const std::string &parent_body_name, const math::RigidTransformd &X_PG, const Eigen::Vector3d &grid_dimensions, const double grid_resolution, const std::optional< multibody::BodyIndex > &override_parent_body_index={}, Parallelism parallelism=Parallelism::Max())
	Builds a VoxelOccupancyMap using the parameters specified.
VoxelTaggedObjectOccupancyMap	BuildTaggedObjectOccupancyMap (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context, const std::unordered_set< geometry::GeometryId > &geometries_to_ignore, const std::string &parent_body_name, const math::RigidTransformd &X_PG, const Eigen::Vector3d &grid_dimensions, const double grid_resolution, const std::optional< multibody::BodyIndex > &override_parent_body_index={}, Parallelism parallelism=Parallelism::Max())
	Builds a VoxelTaggedObjectOccupancyMap using the parameters specified.
void	FillOccupancyMap (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context, const std::unordered_set< geometry::GeometryId > &geometries_to_ignore, VoxelOccupancyMap *occupancy_map, const std::optional< multibody::BodyIndex > &override_parent_body_index={}, Parallelism parallelism=Parallelism::Max())
	Fills an initialized VoxelOccupancyMap.
void	FillTaggedObjectOccupancyMap (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context, const std::unordered_set< geometry::GeometryId > &geometries_to_ignore, VoxelTaggedObjectOccupancyMap *occupancy_map, const std::optional< multibody::BodyIndex > &override_parent_body_index={}, Parallelism parallelism=Parallelism::Max())
	Fills an initialized VoxelTaggedObjectOccupancyMap.