#include <TraversabilityGenerator3d.hpp>

Public Attributes
Polyhedron_3	poly

Eigen::Vector2d	cellXY

double	zMax

const maps::grid::SurfacePatch< maps::grid::MLSConfig::SLOPE > *	patch

Eigen::Vector3d	pos

Detailed Description

One MLS patch prepared for the per-yaw collision checks of one node: the CGAL polyhedron (yaw-INdependent, so built once per node instead of once per yaw sample), its cell centre and top height for the cheap per-yaw prefilters, and the raw patch for the debug drawings.

Member Data Documentation

◆ cellXY

Eigen::Vector2d traversability_generator3d::TraversabilityGenerator3d::YawCheckPatch::cellXY

◆ patch

const maps::grid::SurfacePatch<maps::grid::MLSConfig::SLOPE>* traversability_generator3d::TraversabilityGenerator3d::YawCheckPatch::patch

◆ poly

Polyhedron_3 traversability_generator3d::TraversabilityGenerator3d::YawCheckPatch::poly

◆ pos

Eigen::Vector3d traversability_generator3d::TraversabilityGenerator3d::YawCheckPatch::pos

◆ zMax

double traversability_generator3d::TraversabilityGenerator3d::YawCheckPatch::zMax

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

src/TraversabilityGenerator3d.hpp