collision_environment: collision_environment_msgs | collision_map | collision_space | distance_field

Package Summary

This package contains algorithms that can compute the Euclidean Distance Transform (EDT) of a 3-D voxel grid. The input to these algorithms is an array of points (which could represent the positions of obstacles in the world). The EDT provides a voxel grid in which in which each cell contains the distance to the closest obstacle. The VoxelGrid class can also be used as a generic, templatized container for a discretized 3-D voxel grid.

Further details are available in the Code API.

API

  • ROS API is UNREVIEWED and UNSTABLE
  • C++ API is UNREVIEWED and UNSTABLE

Wiki: distance_field (last edited 2010-03-12 12:11:03 by SachinChitta)