DART  6.7.3
VoxelGridShape.hpp
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32 
33 #ifndef DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
34 #define DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
35 
36 #include "dart/config.hpp"
37 
38 #if HAVE_OCTOMAP
39 
40 #include <octomap/octomap.h>
42 #include "dart/dynamics/Frame.hpp"
43 #include "dart/dynamics/Shape.hpp"
44 
45 namespace dart {
46 namespace dynamics {
47 
49 class VoxelGridShape : public Shape
50 {
51 public:
54  explicit VoxelGridShape(double resolution = 0.01);
55 
58  explicit VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree);
59 
61  ~VoxelGridShape() override = default;
62 
63  // Documentation inherited.
64  const std::string& getType() const override;
65 
67  static const std::string& getStaticType();
68 
70  void setOctree(fcl_shared_ptr<octomap::OcTree> octree);
71 
74 
76  fcl_shared_ptr<const octomap::OcTree> getOctree() const;
77 
85  void updateOccupancy(const Eigen::Vector3d& point, bool occupied = true);
86 
98  void updateOccupancy(const Eigen::Vector3d& from, const Eigen::Vector3d& to);
99 
115  void updateOccupancy(
116  const octomap::Pointcloud& pointCloud,
117  const Eigen::Vector3d& sensorOrigin = Eigen::Vector3d::Zero(),
118  const Frame* relativeTo = Frame::World());
119 
135  void updateOccupancy(
136  const octomap::Pointcloud& pointCloud,
137  const Eigen::Vector3d& sensorOrigin,
138  const Eigen::Isometry3d& relativeTo);
139 
141  double getOccupancy(const Eigen::Vector3d& point) const;
142 
143  // Documentation inherited.
144  Eigen::Matrix3d computeInertia(double mass) const override;
145 
146 protected:
147  // Documentation inherited.
148  void updateBoundingBox() const override;
149 
150  // Documentation inherited.
151  void updateVolume() const override;
152 
155  // TODO(JS): Use std::shared_ptr once we drop supporting FCL (< 0.5)
156 };
157 
158 } // namespace dynamics
159 } // namespace dart
160 
161 #endif // HAVE_OCTOMAP
162 
163 #endif // DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
boost::shared_ptr< T > fcl_shared_ptr
Definition: BackwardCompatibility.hpp:100
static Frame * World()
Definition: Frame.cpp:72
Definition: BulletCollisionDetector.cpp:63