Signed distance function (SDF)

SDF classes

skrobot.sdf.SignedDistanceFunction

A base class for signed distance functions (SDFs).

skrobot.sdf.UnionSDF

One can concat multiple SDFs sdf_list by using this class.

skrobot.sdf.BoxSDF

SDF for a box specified by origin and width.

skrobot.sdf.GridSDF

SDF using precopmuted signed distances for gridded points.

skrobot.sdf.CylinderSDF

SDF for a cylinder specified by origin,`radius` and height

skrobot.sdf.SphereSDF

SDF for a sphere specified by origin and radius.

SDF utilities

skrobot.sdf.signed_distance_function.trimesh2sdf

Convert trimesh to signed distance function.

skrobot.sdf.signed_distance_function.link2sdf

Convert Link to corresponding sdf