signed_distance_field.cpp File Reference

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

#include <tesseract/common/macros.h>
#include <algorithm>
#include <cctype>
#include <cstdint>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <stdexcept>
#include <vector>
#include <boost/algorithm/string/classification.hpp>
#include <boost/algorithm/string/split.hpp>
#include <Eigen/Geometry>
#include <tesseract/common/utils.h>
#include <tinyxml2.h>
#include <tesseract/geometry/impl/signed_distance_field.h>
#include <tesseract/geometry/impl/signed_distance_field_utils.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/urdf/signed_distance_field.h>
#include <tesseract/urdf/utils.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 tesseract::geometry::SignedDistanceField::ConstPtr &sdf, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)

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