compute_signed_distance_field.hpp File Reference

#include <memory>
#include <string>
#include <vector>
#include <behaviortree_cpp/action_node.h>
#include <Eigen/Geometry>
#include <moveit_pro_base/distance_field/distance_field.hpp>
#include <moveit_pro_base/planning_scene/planning_scene.hpp>
#include <moveit_pro_behavior_interface/async_behavior_base.hpp>
#include <moveit_pro_behavior_interface/shared_resources_node.hpp>
#include <tl_expected/expected.hpp>

Include dependency graph for compute_signed_distance_field.hpp:

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Classes
struct	moveit_pro::behaviors::DistanceFieldParameters
	Parameters for building a propagation distance field from a planning scene. More...
class	moveit_pro::behaviors::ComputeSignedDistanceField
	A Behavior to compute a propagation (signed) distance field from a planning scene. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
tl::expected< void, std::string >	moveit_pro::behaviors::validateDistanceFieldParameters (const std::vector< double > &bbox_min, const std::vector< double > &bbox_max, double resolution, double max_distance)
	Validate the inputs required to build a propagation distance field.
tl::expected< std::shared_ptr< const moveit_pro::base::distance_field::DistanceField >, std::string >	moveit_pro::behaviors::computeSdfFromPlanningScene (const moveit_pro::base::planning_scene::PlanningScene &planning_scene, const DistanceFieldParameters &parameters)
	Build a propagation distance field from a planning scene.