storm_kit.geom.sdf.world module¶
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class
WorldCollision
(batch_size=1, tensor_args={'device': 'cpu', 'dtype': torch.float32})[source]¶ Bases:
object
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class
WorldGridCollision
(batch_size=1, tensor_args={'device': 'cpu', 'dtype': torch.float32}, bounds=None, grid_resolution=0.05)[source]¶ Bases:
storm_kit.geom.sdf.world.WorldCollision
This template class can be used to build a sdf grid using a signed distance function for fast lookup.
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build_transform_matrices
(bounds, pitch)[source]¶ Args: bounds: [[min_x, min_y, min_z], [max_x, max_y, max_z]] pitch: float
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check_pts_sdf
(pts)[source]¶ finds the signed distance for the points from the stored grid Args: pts: [n,3]
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class
WorldPointCloudCollision
(label_map, bounds, grid_resolution=0.02, tensor_args={'device': 'cpu', 'dtype': torch.float32}, batch_size=1)[source]¶
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class
WorldPrimitiveCollision
(world_collision_params, batch_size=1, tensor_args={'device': 'cpu', 'dtype': torch.float32}, bounds=None, grid_resolution=0.05)[source]¶ Bases:
storm_kit.geom.sdf.world.WorldGridCollision
This class holds a batched collision model
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get_signed_distance
(w_pts)[source]¶ This needs to be implemented
- Parameters
pts (tensor) – [b,3]
- Raises
NotImplementedError – Raises error as this function needs to be implemented in a child class
- Returns
distance [b,1]
- Return type
tensor
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get_sphere_distance
(w_sphere)[source]¶ Computes the signed distance via analytic function Args: tensor_sphere: b, n, 4
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