#include <TravGenNode.hpp>

Public Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Public Attributes
Eigen::Hyperplane< double, 3 >	plane

double	slope = 0.0

Eigen::Vector3d	slopeDirection = Eigen::Vector3d::Zero()

double	slopeDirectionAtan2 = 0.0

size_t	id = 0

std::vector< base::AngleSegment >	allowedOrientations

NodeType	nodeType = NodeType::UNSET

ObstacleCause	obstacleCause = ObstacleCause::CAUSE_NONE

int	cost = 0

Detailed Description

Node struct for TraversabilityMap3d

Member Function Documentation

◆ serialize()

template<class Archive >

void traversability_generator3d::TravGenTrackingData::serialize	(	Archive &	ar,
		const unsigned int	version
	)

inline

Serializes the members of this class

Member Data Documentation

◆ allowedOrientations

std::vector<base::AngleSegment> traversability_generator3d::TravGenTrackingData::allowedOrientations

Some orientations might be forbidden on this patch (e.g. due to slope). This vector contains all orientations that are allowed

◆ cost

int traversability_generator3d::TravGenTrackingData::cost = 0

◆ id

size_t traversability_generator3d::TravGenTrackingData::id = 0

continuous unique id that can be used as index for additional metadata

◆ nodeType

NodeType traversability_generator3d::TravGenTrackingData::nodeType = NodeType::UNSET

◆ obstacleCause

ObstacleCause traversability_generator3d::TravGenTrackingData::obstacleCause = ObstacleCause::CAUSE_NONE

Why this node is OBSTACLE (NONE otherwise); debugging/visualization only.

◆ plane

Eigen::Hyperplane<double, 3> traversability_generator3d::TravGenTrackingData::plane

The plane that has been fitted to the mls at the location of this node

◆ slope

double traversability_generator3d::TravGenTrackingData::slope = 0.0

slope of the plane

◆ slopeDirection

Eigen::Vector3d traversability_generator3d::TravGenTrackingData::slopeDirection = Eigen::Vector3d::Zero()

normalized direction of the slope. Only valid if slope > 0

◆ slopeDirectionAtan2

double traversability_generator3d::TravGenTrackingData::slopeDirectionAtan2 = 0.0

The atan2(slopeDirection.y(), slopeDirection.x()), i.e. angle of slopeDirection projected on the xy plane. Precomputed for performance reasons

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

src/TravGenNode.hpp

Public Member Functions

Public Attributes