signed_distance_field.h File Reference

Parse signed distance field from xml string. More...

#include <tesseract/common/macros.h>
#include <memory>
#include <string_view>
#include <tesseract/common/fwd.h>
#include <tesseract/geometry/fwd.h>

Functions
std::shared_ptr< tesseract::geometry::SignedDistanceField >	tesseract::urdf::parseSignedDistanceField (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator)
	Parse xml element signed_distance_field.
tinyxml2::XMLElement *	tesseract::urdf::writeSignedDistanceField (const std::shared_ptr< const tesseract::geometry::SignedDistanceField > &sdf, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeSignedDistanceField Write a signed distance field out to file, and generate appropriate xml. This is non-standard URDF / tesseract-exclusive

Detailed Description

Parse signed distance field from xml string.

Author

Joel Kang

Date

June 26, 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.

Function Documentation

parseSignedDistanceField()

tesseract::geometry::SignedDistanceField::Ptr tesseract::urdf::parseSignedDistanceField	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator
	)

Parse xml element signed_distance_field.

Loads a serialized OpenVDB FloatGrid from the resource referenced by the filename attribute. This is the VDB binary distance-field format, not Gazebo's "SDF" Simulation Description Format.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator

Returns

A Tesseract SignedDistanceField geometry

writeSignedDistanceField()

tinyxml2::XMLElement * tesseract::urdf::writeSignedDistanceField	(	const std::shared_ptr< const tesseract::geometry::SignedDistanceField > &	sdf,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeSignedDistanceField Write a signed distance field out to file, and generate appropriate xml. This is non-standard URDF / tesseract-exclusive

Parameters

sdf	The geometry element containing the signed distance field
doc	The XML document to which to add the xml data
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired filename relative to the working directory ("sdf.vdb" or "collision/sdf.vdb")

Returns

An XML element containing information on the saved file.