point_cloud.cpp File Reference

Parse PCL point cloud to octree from xml string. More...

#include <tesseract/common/macros.h>
#include <stdexcept>
#include <console_bridge/console.h>
#include <pcl/io/pcd_io.h>
#include <tesseract/common/utils.h>
#include <tinyxml2.h>
#include <octomap/OcTree.h>
#include <tesseract/geometry/impl/octree.h>
#include <tesseract/geometry/impl/octree_utils.h>
#include <tesseract/urdf/point_cloud.h>
#include <tesseract/common/resource_locator.h>

Functions
std::shared_ptr< tesseract::geometry::Octree >	tesseract::urdf::parsePointCloud (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, tesseract::geometry::OctreeSubType shape_type, bool prune)
	Parse xml element point_cloud.

Detailed Description

Parse PCL point cloud to octree from xml string.

Author

Levi Armstrong

Date

September 1, 2019

Copyright

Copyright (c) 2019, Southwest Research Institute

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.

Function Documentation

parsePointCloud()

tesseract::geometry::Octree::Ptr tesseract::urdf::parsePointCloud	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		tesseract::geometry::OctreeSubType	shape_type,
		bool	prune
	)

Parse xml element point_cloud.

Parameters

xml_element	The xml element
locator	The Tesseract locator
shape_type	The collision/visual geometry to use
prune	Indicate if the octree should be pruned
version	The version number

Returns

A Tesseract Geometry Octree