#include <sampled_trajectory.h>

Public Member Functions
	SampledTrajectory3D (const double &dt, const polynomials::Trajectory3D &poly_trajectories)

	SampledTrajectory3D (const std::vector< double > &time_vec, const pcl::PointCloud< pcl::PointXYZ > &pos_vec)

	SampledTrajectory3D ()

void	PrintSamples ()

void	SetMaxDev (const double &max_dev)

void	SetResolution (const double &resolution)

void	DeleteSample (const int &index)

void	CompressSamples ()

void	Bresenham (const Eigen::Vector3d &p0, const Eigen::Vector3d &pf, std::vector< octomap::point3d > *points)

void	ThickBresenham (const Eigen::Vector3d &p0, const Eigen::Vector3d &pf)

void	ThickTrajToPcl ()

void	CreateKdTree ()

void	SortCollisions (const std::vector< octomap::point3d > &colliding_nodes, std::vector< geometry_msgs::PointStamped > *samples)

void	TrajVisMarkers (visualization_msgs::MarkerArray *marker_array)

void	SamplesVisMarkers (visualization_msgs::MarkerArray *marker_array)

void	CompressedVisMarkers (visualization_msgs::MarkerArray *marker_array)

void	ClearObject ()

Public Attributes
pcl::PointCloud< pcl::PointXYZ >	pos_

pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_ptr_

pcl::KdTreeFLANN< pcl::PointXYZ >	kdtree_pos_

std::vector< double >	time_

int	n_points_

std::vector< Eigen::Vector3d >	compressed_pos_

std::vector< double >	compressed_time_

int	n_compressed_points_

double	max_dev_

octomap::OcTree	thick_traj_ = octomap::OcTree(0.1)

pcl::PointCloud< pcl::PointXYZ >	point_cloud_traj_

double	resolution_

double	thickness_

Constructor & Destructor Documentation

◆ SampledTrajectory3D() [1/3]

sampled_traj::SampledTrajectory3D::SampledTrajectory3D	(	const double &	dt,
		const polynomials::Trajectory3D &	poly_trajectories
	)

◆ SampledTrajectory3D() [2/3]

sampled_traj::SampledTrajectory3D::SampledTrajectory3D	(	const std::vector< double > &	time_vec,
		const pcl::PointCloud< pcl::PointXYZ > &	pos_vec
	)

◆ SampledTrajectory3D() [3/3]

sampled_traj::SampledTrajectory3D::SampledTrajectory3D ( )

Member Function Documentation

◆ Bresenham()

void sampled_traj::SampledTrajectory3D::Bresenham	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	pf,
		std::vector< octomap::point3d > *	points
	)

◆ ClearObject()

void sampled_traj::SampledTrajectory3D::ClearObject ( )

◆ CompressedVisMarkers()

void sampled_traj::SampledTrajectory3D::CompressedVisMarkers ( visualization_msgs::MarkerArray * marker_array )

◆ CompressSamples()

void sampled_traj::SampledTrajectory3D::CompressSamples ( )

◆ CreateKdTree()

void sampled_traj::SampledTrajectory3D::CreateKdTree ( )

◆ DeleteSample()

void sampled_traj::SampledTrajectory3D::DeleteSample ( const int & index )

◆ PrintSamples()

void sampled_traj::SampledTrajectory3D::PrintSamples ( )

◆ SamplesVisMarkers()

void sampled_traj::SampledTrajectory3D::SamplesVisMarkers ( visualization_msgs::MarkerArray * marker_array )

◆ SetMaxDev()

void sampled_traj::SampledTrajectory3D::SetMaxDev ( const double & max_dev )

◆ SetResolution()

void sampled_traj::SampledTrajectory3D::SetResolution ( const double & resolution )

◆ SortCollisions()

void sampled_traj::SampledTrajectory3D::SortCollisions	(	const std::vector< octomap::point3d > &	colliding_nodes,
		std::vector< geometry_msgs::PointStamped > *	samples
	)

◆ ThickBresenham()

void sampled_traj::SampledTrajectory3D::ThickBresenham	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	pf
	)

◆ ThickTrajToPcl()

void sampled_traj::SampledTrajectory3D::ThickTrajToPcl ( )

◆ TrajVisMarkers()

void sampled_traj::SampledTrajectory3D::TrajVisMarkers ( visualization_msgs::MarkerArray * marker_array )

Member Data Documentation

◆ cloud_ptr_

pcl::PointCloud<pcl::PointXYZ>::Ptr sampled_traj::SampledTrajectory3D::cloud_ptr_

Initial value:

=

pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>)

◆ compressed_pos_

std::vector<Eigen::Vector3d> sampled_traj::SampledTrajectory3D::compressed_pos_

◆ compressed_time_

std::vector<double> sampled_traj::SampledTrajectory3D::compressed_time_

◆ kdtree_pos_

pcl::KdTreeFLANN<pcl::PointXYZ> sampled_traj::SampledTrajectory3D::kdtree_pos_

◆ max_dev_

double sampled_traj::SampledTrajectory3D::max_dev_

◆ n_compressed_points_

int sampled_traj::SampledTrajectory3D::n_compressed_points_

◆ n_points_

int sampled_traj::SampledTrajectory3D::n_points_

◆ point_cloud_traj_

pcl::PointCloud< pcl::PointXYZ > sampled_traj::SampledTrajectory3D::point_cloud_traj_

◆ pos_

pcl::PointCloud<pcl::PointXYZ> sampled_traj::SampledTrajectory3D::pos_

◆ resolution_

double sampled_traj::SampledTrajectory3D::resolution_

◆ thick_traj_

octomap::OcTree sampled_traj::SampledTrajectory3D::thick_traj_ = octomap::OcTree(0.1)

◆ thickness_

double sampled_traj::SampledTrajectory3D::thickness_

◆ time_

std::vector<double> sampled_traj::SampledTrajectory3D::time_

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

mobility/mapper/include/mapper/sampled_trajectory.h
mobility/mapper/src/sampled_trajectory.cc

Public Member Functions

Public Attributes