DistanceField Struct

For each grid cell, the distance in metres to the nearest wall cell, capped at max_distance. More...

Declaration

struct moveit_pro::behaviors::localization::internal::DistanceField { ... }

Included Headers

#include <scan_match_scoring.hpp>

Public Member Functions Index

bool	valid () const
float	at (const Eigen::Vector2d &point) const
	Distance from point to the nearest wall, read from the cell that contains it. More...

Public Member Attributes Index

int	width = 0
	Columns. More...
int	height = 0
	Rows. More...
double	resolution = 0.0
	Cell size, in metres. More...
double	max_distance = 0.0
std::vector< float >	distance
	Row-major, indexed [row * width + column], as OccupancyGrid data is. More...

Description

For each grid cell, the distance in metres to the nearest wall cell, capped at max_distance.

Definition at line 32 of file scan_match_scoring.hpp.

Public Member Functions

at()

float moveit_pro::behaviors::localization::internal::DistanceField::at (const Eigen::Vector2d & point)

Distance from point to the nearest wall, read from the cell that contains it.

Parameters

point

Position in the grid frame, in metres.

Returns

max_distance for a point off the grid, a non-finite point, or an invalid field.

Declaration at line 49 of file scan_match_scoring.hpp, definition at line 23 of file scan_match_scoring.cpp.

valid()

bool moveit_pro::behaviors::localization::internal::DistanceField::valid ()

Returns

True if the dimensions are positive and match the size of distance.

Declaration at line 42 of file scan_match_scoring.hpp, definition at line 17 of file scan_match_scoring.cpp.

Public Member Attributes

distance

std::vector<float> moveit_pro::behaviors::localization::internal::DistanceField::distance

Row-major, indexed [row * width + column], as OccupancyGrid data is.

Definition at line 39 of file scan_match_scoring.hpp.

height

int moveit_pro::behaviors::localization::internal::DistanceField::height = 0

Rows.

Definition at line 35 of file scan_match_scoring.hpp.

max_distance

double moveit_pro::behaviors::localization::internal::DistanceField::max_distance = 0.0

Cap on every distance, in metres.

Definition at line 37 of file scan_match_scoring.hpp.

resolution

double moveit_pro::behaviors::localization::internal::DistanceField::resolution = 0.0

Cell size, in metres.

Definition at line 36 of file scan_match_scoring.hpp.

width

int moveit_pro::behaviors::localization::internal::DistanceField::width = 0

Columns.

Definition at line 34 of file scan_match_scoring.hpp.

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

• scan_match_scoring.hpp
• scan_match_scoring.cpp

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