#include <TraversabilityGenerator3d.hpp>

Public Types
typedef maps::grid::MLSMapSloped	MLGrid

Public Member Functions
	TraversabilityGenerator3d (const TraversabilityConfig &config)

virtual	~TraversabilityGenerator3d ()

void	clearTrMap ()

void	clearSoilMap ()

void	setInitialPatch (const Eigen::Affine3d &ground2Mls, double patchRadius)

void	setSoilType (SoilNode *node, SoilType soilType)

bool	addSoilNode (const SoilSample &sample)

double	gaussian2D (double x, double y, double meanX, double meanY, double sigmaX, double sigmaY)

virtual TravGenNode *	generateStartNode (const Eigen::Vector3d &startPos)

TravGenNode *	findMatchingTraversabilityPatchAt (maps::grid::Index idx, const double curHeight) const

SoilNode *	findMatchingSoilPatchAt (maps::grid::Index idx, const double curHeight) const

void	updateSoilInformation ()

void	expandAll (const std::vector< Eigen::Vector3d > &positions)

void	expandAll (const Eigen::Vector3d &startPos)

void	expandAll (const Eigen::Vector3d &startPos, const double expandDist)

void	expandAll (TravGenNode *startNode)

void	expandAll (TravGenNode *startNode, const double expandDist)

virtual bool	expandNode (TravGenNode *node)

void	setMLSGrid (std::shared_ptr< MLGrid > &grid)

int	getNumNodes () const

const maps::grid::TraversabilityMap3d< TravGenNode * > &	getTraversabilityMap () const

const maps::grid::TraversabilityMap3d< SoilNode * > &	getSoilMap () const

void	addConnectedPatches (SoilNode *node)

void	setConfig (const TraversabilityConfig &config)

Protected Types
typedef MLGrid::CellType	Cell

typedef MLGrid::View	View

typedef View::CellType	ViewCell

typedef MLGrid::PatchType	Patch

Protected Member Functions
Polyhedron_3	generatePolyhedron (const std::vector< Eigen::Vector3d > &points)

void	transformPolyhedron (Polyhedron_3 &polyhedron, const Transformation &transform)

Transformation	generateTransform (const Eigen::Vector3d &normal, const Eigen::Vector3d &translation)

Polyhedron_3	createPolyhedronFromSurfacePatch (const maps::grid::SurfacePatch< maps::grid::MLSConfig::SLOPE > *p, const Eigen::Vector3d &position)

void	drawWireFrameBox (const Eigen::Vector3d &normal, const Eigen::Vector3d &position, const Eigen::Vector3d &size, const Eigen::Vector4d &colorRGBA)

bool	computePlaneRansac (TravGenNode &node)

double	computeSlope (const Eigen::Hyperplane< double, int(3) > &plane) const

Eigen::Vector3d	computeSlopeDirection (const Eigen::Hyperplane< double, int(3) > &plane) const

bool	checkStepHeightAABB (TravGenNode *node)

bool	checkStepHeightOBB (TravGenNode *node)

bool	computeAllowedOrientations (TravGenNode *node)

void	addConnectedPatches (TravGenNode *node)

bool	getConnectedPatch (const maps::grid::Index &idx, double height, const Patch *&patch)

bool	isNodeFreeOfObstacles (const traversability_generator3d::TravGenNode *node) const

TravGenNode *	createTraversabilityPatchAt (maps::grid::Index idx, const double curHeight)

SoilNode *	createSoilPatchAt (maps::grid::Index idx, const double curHeight)

void	inflateFrontiers ()

void	inflateObstacles ()

void	addInitialPatchToMLS ()

int	intersections ()

SoilNode *	generateStartSoilNode (const Eigen::Vector3d &startPos)

Static Protected Member Functions
static bool	checkForFrontier (const TravGenNode *node)

static double	interpolate (double x, double x0, double y0, double x1, double y1)

Protected Attributes
std::vector< Eigen::Vector3d >	robotEdges

Polyhedron_3	robotPolyhedron

std::vector< Eigen::Vector3d >	patchEdges

Polyhedron_3	patchPolyhedron

double	patchHeight

std::shared_ptr< MLGrid >	mlsGrid

bool	addInitialPatch

Eigen::Affine3d	initialPatch2Mls

double	patchRadius

std::vector< TravGenNode * >	obstacleNodesGrowList

maps::grid::TraversabilityMap3d< TravGenNode * >	trMap

maps::grid::TraversabilityMap3d< SoilNode * >	soilMap

int	currentNodeId = 0

int	currentSoilNodeId = 0

std::vector< TravGenNode * >	frontierNodesGrowList

TraversabilityConfig	config

Member Typedef Documentation

◆ Cell

typedef MLGrid::CellType traversability_generator3d::TraversabilityGenerator3d::Cell

protected

◆ MLGrid

typedef maps::grid::MLSMapSloped traversability_generator3d::TraversabilityGenerator3d::MLGrid

◆ Patch

typedef MLGrid::PatchType traversability_generator3d::TraversabilityGenerator3d::Patch

protected

◆ View

typedef MLGrid::View traversability_generator3d::TraversabilityGenerator3d::View

protected

◆ ViewCell

typedef View::CellType traversability_generator3d::TraversabilityGenerator3d::ViewCell

protected

Constructor & Destructor Documentation

◆ TraversabilityGenerator3d()

traversability_generator3d::TraversabilityGenerator3d::TraversabilityGenerator3d ( const TraversabilityConfig & config )

◆ ~TraversabilityGenerator3d()

traversability_generator3d::TraversabilityGenerator3d::~TraversabilityGenerator3d ( )

virtual

Member Function Documentation

◆ addConnectedPatches() [1/2]

void traversability_generator3d::TraversabilityGenerator3d::addConnectedPatches ( SoilNode * node )

◆ addConnectedPatches() [2/2]

void traversability_generator3d::TraversabilityGenerator3d::addConnectedPatches ( TravGenNode * node )

protected

◆ addInitialPatchToMLS()

void traversability_generator3d::TraversabilityGenerator3d::addInitialPatchToMLS ( )

protected

◆ addSoilNode()

bool traversability_generator3d::TraversabilityGenerator3d::addSoilNode ( const SoilSample & sample )

◆ checkForFrontier()

bool traversability_generator3d::TraversabilityGenerator3d::checkForFrontier ( const TravGenNode * node )

staticprotected

◆ checkStepHeightAABB()

bool traversability_generator3d::TraversabilityGenerator3d::checkStepHeightAABB ( TravGenNode * node )

protected

What this method does: Check if any of the patches around node that the robot might stand on is higher than stepHeight. I.e. if any of the patches is so high that it would be inside the robots body.

◆ checkStepHeightOBB()

bool traversability_generator3d::TraversabilityGenerator3d::checkStepHeightOBB ( TravGenNode * node )

protected

What this method does: Check if any of the patches within the robot OBB node come into collison with the robot.

◆ clearSoilMap()

void traversability_generator3d::TraversabilityGenerator3d::clearSoilMap ( )

◆ clearTrMap()

void traversability_generator3d::TraversabilityGenerator3d::clearTrMap ( )

◆ computeAllowedOrientations()

bool traversability_generator3d::TraversabilityGenerator3d::computeAllowedOrientations ( TravGenNode * node )

protected

Returns: false if no allowed orientation was found (e.g. due to extreme slope)

◆ computePlaneRansac()

bool traversability_generator3d::TraversabilityGenerator3d::computePlaneRansac ( TravGenNode & node )

protected

◆ computeSlope()

double traversability_generator3d::TraversabilityGenerator3d::computeSlope ( const Eigen::Hyperplane< double, int(3) > & plane ) const

protected

◆ computeSlopeDirection()

Eigen::Vector3d traversability_generator3d::TraversabilityGenerator3d::computeSlopeDirection ( const Eigen::Hyperplane< double, int(3) > & plane ) const

protected

The vector of maximum slope on a plane is the projection of (0,0,1) onto the plane. (0,0,1) is the steepest vector possible in the global frame, thus by projecting it onto the plane we get the steepest vector possible on that plane.

◆ createPolyhedronFromSurfacePatch()

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::createPolyhedronFromSurfacePatch	(	const maps::grid::SurfacePatch< maps::grid::MLSConfig::SLOPE > *	p,
		const Eigen::Vector3d &	position
	)

protected

◆ createSoilPatchAt()

SoilNode * traversability_generator3d::TraversabilityGenerator3d::createSoilPatchAt	(	maps::grid::Index	idx,
		const double	curHeight
	)

protected

◆ createTraversabilityPatchAt()

TravGenNode * traversability_generator3d::TraversabilityGenerator3d::createTraversabilityPatchAt	(	maps::grid::Index	idx,
		const double	curHeight
	)

protected

◆ drawWireFrameBox()

void traversability_generator3d::TraversabilityGenerator3d::drawWireFrameBox	(	const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	position,
		const Eigen::Vector3d &	size,
		const Eigen::Vector4d &	colorRGBA
	)

protected

◆ expandAll() [1/5]

void traversability_generator3d::TraversabilityGenerator3d::expandAll ( const Eigen::Vector3d & startPos )

◆ expandAll() [2/5]

void traversability_generator3d::TraversabilityGenerator3d::expandAll	(	const Eigen::Vector3d &	startPos,
		const double	expandDist
	)

Expands the map starting at startPos. Expansion will stop if a distance of expandDist is reached. I.e. this will expand all nodes in a circle of radius expandDist around startPos.

◆ expandAll() [3/5]

void traversability_generator3d::TraversabilityGenerator3d::expandAll ( const std::vector< Eigen::Vector3d > & positions )

Expand the map starting from all given positions

◆ expandAll() [4/5]

void traversability_generator3d::TraversabilityGenerator3d::expandAll ( TravGenNode * startNode )

◆ expandAll() [5/5]

void traversability_generator3d::TraversabilityGenerator3d::expandAll	(	TravGenNode *	startNode,
		const double	expandDist
	)

Parameters

expandDist How far should the map be expanded? If negative the whole map will be expanded.

◆ expandNode()

bool traversability_generator3d::TraversabilityGenerator3d::expandNode ( TravGenNode * node )

virtual

◆ findMatchingSoilPatchAt()

SoilNode * traversability_generator3d::TraversabilityGenerator3d::findMatchingSoilPatchAt	(	maps::grid::Index	idx,
		const double	curHeight
	)		const

◆ findMatchingTraversabilityPatchAt()

TravGenNode * traversability_generator3d::TraversabilityGenerator3d::findMatchingTraversabilityPatchAt	(	maps::grid::Index	idx,
		const double	curHeight
	)		const

◆ gaussian2D()

double traversability_generator3d::TraversabilityGenerator3d::gaussian2D	(	double	x,
		double	y,
		double	meanX,
		double	meanY,
		double	sigmaX,
		double	sigmaY
	)

◆ generatePolyhedron()

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::generatePolyhedron ( const std::vector< Eigen::Vector3d > & points )

protected

◆ generateStartNode()

TravGenNode * traversability_generator3d::TraversabilityGenerator3d::generateStartNode ( const Eigen::Vector3d & startPos )

virtual

◆ generateStartSoilNode()

SoilNode * traversability_generator3d::TraversabilityGenerator3d::generateStartSoilNode ( const Eigen::Vector3d & startPos )

protected

◆ generateTransform()

Transformation traversability_generator3d::TraversabilityGenerator3d::generateTransform	(	const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	translation
	)

protected

◆ getConnectedPatch()

bool traversability_generator3d::TraversabilityGenerator3d::getConnectedPatch	(	const maps::grid::Index &	idx,
		double	height,
		const Patch *&	patch
	)

protected

◆ getNumNodes()

int traversability_generator3d::TraversabilityGenerator3d::getNumNodes ( ) const

Returns the number of nodes after expansion

◆ getSoilMap()

const maps::grid::TraversabilityMap3d< SoilNode * > & traversability_generator3d::TraversabilityGenerator3d::getSoilMap ( ) const

◆ getTraversabilityMap()

const maps::grid::TraversabilityMap3d< TravGenNode * > & traversability_generator3d::TraversabilityGenerator3d::getTraversabilityMap ( ) const

◆ inflateFrontiers()

void traversability_generator3d::TraversabilityGenerator3d::inflateFrontiers ( )

protected

◆ inflateObstacles()

void traversability_generator3d::TraversabilityGenerator3d::inflateObstacles ( )

protected

◆ interpolate()

double traversability_generator3d::TraversabilityGenerator3d::interpolate	(	double	x,
		double	x0,
		double	y0,
		double	x1,
		double	y1
	)

staticprotected

◆ intersections()

int traversability_generator3d::TraversabilityGenerator3d::intersections ( )

protected

◆ isNodeFreeOfObstacles()

bool traversability_generator3d::TraversabilityGenerator3d::isNodeFreeOfObstacles ( const traversability_generator3d::TravGenNode * node ) const

protected

◆ setConfig()

void traversability_generator3d::TraversabilityGenerator3d::setConfig ( const TraversabilityConfig & config )

◆ setInitialPatch()

void traversability_generator3d::TraversabilityGenerator3d::setInitialPatch	(	const Eigen::Affine3d &	ground2Mls,
		double	patchRadius
	)

◆ setMLSGrid()

void traversability_generator3d::TraversabilityGenerator3d::setMLSGrid ( std::shared_ptr< MLGrid > & grid )

◆ setSoilType()

void traversability_generator3d::TraversabilityGenerator3d::setSoilType	(	SoilNode *	node,
		SoilType	soilType
	)

◆ transformPolyhedron()

void traversability_generator3d::TraversabilityGenerator3d::transformPolyhedron	(	Polyhedron_3 &	polyhedron,
		const Transformation &	transform
	)

protected

◆ updateSoilInformation()

void traversability_generator3d::TraversabilityGenerator3d::updateSoilInformation ( )

Member Data Documentation

◆ addInitialPatch

bool traversability_generator3d::TraversabilityGenerator3d::addInitialPatch

protected

◆ config

TraversabilityConfig traversability_generator3d::TraversabilityGenerator3d::config

protected

◆ currentNodeId

int traversability_generator3d::TraversabilityGenerator3d::currentNodeId = 0

protected

◆ currentSoilNodeId

int traversability_generator3d::TraversabilityGenerator3d::currentSoilNodeId = 0

protected

◆ frontierNodesGrowList

std::vector<TravGenNode *> traversability_generator3d::TraversabilityGenerator3d::frontierNodesGrowList

protected

◆ initialPatch2Mls

Eigen::Affine3d traversability_generator3d::TraversabilityGenerator3d::initialPatch2Mls

protected

◆ mlsGrid

std::shared_ptr<MLGrid > traversability_generator3d::TraversabilityGenerator3d::mlsGrid

protected

◆ obstacleNodesGrowList

std::vector<TravGenNode*> traversability_generator3d::TraversabilityGenerator3d::obstacleNodesGrowList

protected

◆ patchEdges

std::vector<Eigen::Vector3d> traversability_generator3d::TraversabilityGenerator3d::patchEdges

protected

◆ patchHeight

double traversability_generator3d::TraversabilityGenerator3d::patchHeight

protected

◆ patchPolyhedron

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::patchPolyhedron

protected

◆ patchRadius

double traversability_generator3d::TraversabilityGenerator3d::patchRadius

protected

◆ robotEdges

std::vector<Eigen::Vector3d> traversability_generator3d::TraversabilityGenerator3d::robotEdges

protected

◆ robotPolyhedron

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::robotPolyhedron

protected

◆ soilMap

maps::grid::TraversabilityMap3d<SoilNode*> traversability_generator3d::TraversabilityGenerator3d::soilMap

protected

◆ trMap

maps::grid::TraversabilityMap3d<TravGenNode*> traversability_generator3d::TraversabilityGenerator3d::trMap

protected

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Cell

◆ MLGrid

◆ Patch

◆ View

◆ ViewCell

Constructor & Destructor Documentation

◆ TraversabilityGenerator3d()

◆ ~TraversabilityGenerator3d()

Member Function Documentation

◆ addConnectedPatches() [1/2]

◆ addConnectedPatches() [2/2]

◆ addInitialPatchToMLS()

◆ addSoilNode()

◆ checkForFrontier()

◆ checkStepHeightAABB()

◆ checkStepHeightOBB()

◆ clearSoilMap()

◆ clearTrMap()

◆ computeAllowedOrientations()

◆ computePlaneRansac()

◆ computeSlope()

◆ computeSlopeDirection()

◆ createPolyhedronFromSurfacePatch()

◆ createSoilPatchAt()

◆ createTraversabilityPatchAt()

◆ drawWireFrameBox()

◆ expandAll() [1/5]

◆ expandAll() [2/5]

◆ expandAll() [3/5]

◆ expandAll() [4/5]

◆ expandAll() [5/5]

◆ expandNode()

◆ findMatchingSoilPatchAt()

◆ findMatchingTraversabilityPatchAt()

◆ gaussian2D()

◆ generatePolyhedron()

◆ generateStartNode()

◆ generateStartSoilNode()

◆ generateTransform()

◆ getConnectedPatch()

◆ getNumNodes()

◆ getSoilMap()

◆ getTraversabilityMap()

◆ inflateFrontiers()

◆ inflateObstacles()

◆ interpolate()

◆ intersections()

◆ isNodeFreeOfObstacles()

◆ setConfig()

◆ setInitialPatch()

◆ setMLSGrid()

◆ setSoilType()

◆ transformPolyhedron()

◆ updateSoilInformation()

Member Data Documentation

◆ addInitialPatch

◆ config

◆ currentNodeId

◆ currentSoilNodeId

◆ frontierNodesGrowList

◆ initialPatch2Mls

◆ mlsGrid

◆ obstacleNodesGrowList

◆ patchEdges

◆ patchHeight

◆ patchPolyhedron

◆ patchRadius

◆ robotEdges

◆ robotPolyhedron

◆ soilMap

◆ trMap