Parameters for building a propagation distance field from a planning scene. More...

#include <compute_signed_distance_field.hpp>

Public Attributes
Eigen::Vector3d	bbox_min
	Min corner of the voxel grid (planning frame, meters).

Eigen::Vector3d	bbox_max
	Max corner of the voxel grid (planning frame, meters).

double	resolution = 0.0
	Voxel size (meters).

double	max_distance = 0.0
	Propagation cutoff (meters); cells farther than this clamp to max_distance.

bool	signed_distance = false
	If true, propagate negative distances inside obstacles (true signed distance field).

std::vector< std::string >	link_names
	Names of robot links whose collision geometry should be voxelized into the field at their current world transforms (in addition to all world collision objects). Intended for links that are rigidly fixed to the world (e.g., bay floor / wall geometry baked into the URDF) so downstream planners see them in the SDF. Default: empty (URDF links not included — matches MoveIt's stock collision world semantics).

Detailed Description

Parameters for building a propagation distance field from a planning scene.

Member Data Documentation

◆ bbox_max

Eigen::Vector3d moveit_pro::behaviors::DistanceFieldParameters::bbox_max

Max corner of the voxel grid (planning frame, meters).

◆ bbox_min

Eigen::Vector3d moveit_pro::behaviors::DistanceFieldParameters::bbox_min

Min corner of the voxel grid (planning frame, meters).

◆ link_names

std::vector<std::string> moveit_pro::behaviors::DistanceFieldParameters::link_names

Names of robot links whose collision geometry should be voxelized into the field at their current world transforms (in addition to all world collision objects). Intended for links that are rigidly fixed to the world (e.g., bay floor / wall geometry baked into the URDF) so downstream planners see them in the SDF. Default: empty (URDF links not included — matches MoveIt's stock collision world semantics).

◆ max_distance

double moveit_pro::behaviors::DistanceFieldParameters::max_distance = 0.0

Propagation cutoff (meters); cells farther than this clamp to max_distance.

◆ resolution

double moveit_pro::behaviors::DistanceFieldParameters::resolution = 0.0

Voxel size (meters).

◆ signed_distance

bool moveit_pro::behaviors::DistanceFieldParameters::signed_distance = false

If true, propagate negative distances inside obstacles (true signed distance field).

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

compute_signed_distance_field.hpp

Public Attributes