#include <TraversabilityGenerator3d.hpp>

Public Attributes
Polyhedron_3	poly

Eigen::Vector3d	planeNormal

std::vector< Eigen::Vector3d >	bottomCorners

Eigen::Vector3d	heightOffset

Detailed Description

The robot body volume shared by the step-height OBB check and the per-yaw collision checks: the yaw-rotated, offset footprint box resting on the node's fitted plane with maxStepHeight clearance, extruded by robotHeight along the (sanitized) plane normal.

Member Data Documentation

◆ bottomCorners

std::vector<Eigen::Vector3d> traversability_generator3d::TraversabilityGenerator3d::BodyHull::bottomCorners

◆ heightOffset

Eigen::Vector3d traversability_generator3d::TraversabilityGenerator3d::BodyHull::heightOffset

◆ planeNormal

Eigen::Vector3d traversability_generator3d::TraversabilityGenerator3d::BodyHull::planeNormal

◆ poly

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::BodyHull::poly

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