signed_distance_field.h File Reference

Tesseract Signed Distance Field Geometry. More...

#include <tesseract/common/macros.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <functional>
#include <memory>
#include <vector>
#include <tesseract/common/fwd.h>
#include <tesseract/geometry/geometry.h>

Classes
class	tesseract::geometry::SignedDistanceField
	A volumetric signed distance field geometry. More...

Typedefs
using	tesseract::geometry::SignedDistanceFunction = std::function< double(const Eigen::Vector3d &)>
	Evaluate the signed distance at a single point in the field's local frame.
using	tesseract::geometry::BatchedSignedDistanceFunction = std::function< std::vector< double >(const std::vector< Eigen::Vector3d > &)>
	Evaluate the signed distance at many points at once.

Functions
template<class Archive >
void	tesseract::geometry::serialize (Archive &ar, SignedDistanceField &obj)

Detailed Description

Tesseract Signed Distance Field Geometry.

Author

Joel Kang

Date

June 10, 2026

Copyright

Copyright (c) 2026, Tesseract

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Typedef Documentation

BatchedSignedDistanceFunction

using tesseract::geometry::BatchedSignedDistanceFunction = typedef std::function<std::vector<double>(const std::vector<Eigen::Vector3d>&)>

Evaluate the signed distance at many points at once.

Receives every sample point in one call and must return one distance per point, in the same order. Use this overload to vectorize / offload the evaluation (e.g. a batched nvblox ESDF GPU query) instead of paying a per-point call.