occupancy_grid_utils Namespace Reference

Namespaces
namespace	msg
Classes
struct	Cell
struct	CellOutOfBoundsException
	Exception for Cell off map. More...
struct	GridUtilsException
	Base class for exceptions from this package. More...
struct	InflationQueueItem
struct	LocalizedCloud_
struct	NavigationFunction_
struct	OverlayClouds_
struct	PointOutOfBoundsException
	Exception for point off map. More...
struct	PQItem
struct	QueueItem
class	RayTraceIterator
struct	ShortestPathResult
struct	TerminationCondition
	Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop goals is a set such that once we've expanded all the cells in this set, we stop. More...
Typedefs
typedef std::pair< Path, double >	AStarResult
typedef std::set< Cell >	Cells
typedef int16_t	coord_t
typedef boost::shared_ptr < nm::OccupancyGrid const >	GridConstPtr
typedef boost::shared_ptr < nm::OccupancyGrid >	GridPtr
typedef uint32_t	index_t
typedef ::occupancy_grid_utils::LocalizedCloud_ < std::allocator< void > >	LocalizedCloud
typedef boost::shared_ptr < ::occupancy_grid_utils::LocalizedCloud const >	LocalizedCloudConstPtr
typedef boost::shared_ptr < ::occupancy_grid_utils::LocalizedCloud >	LocalizedCloudPtr
typedef ::occupancy_grid_utils::NavigationFunction_ < std::allocator< void > >	NavigationFunction
typedef boost::shared_ptr < ::occupancy_grid_utils::NavigationFunction const >	NavigationFunctionConstPtr
typedef boost::shared_ptr < ::occupancy_grid_utils::NavigationFunction >	NavigationFunctionPtr
typedef ::occupancy_grid_utils::OverlayClouds_ < std::allocator< void > >	OverlayClouds
typedef boost::shared_ptr < ::occupancy_grid_utils::OverlayClouds const >	OverlayCloudsConstPtr
typedef boost::shared_ptr < ::occupancy_grid_utils::OverlayClouds >	OverlayCloudsPtr
typedef std::vector< Cell >	Path
typedef std::pair < RayTraceIterator, RayTraceIterator >	RayTraceIterRange
typedef boost::shared_ptr < const ShortestPathResult >	ResultPtr
Functions
void	addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud, const int inc)
void	addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Raytrace a cloud onto grid in overlay.
void	addKnownFreePoint (OverlayClouds *overlay, const gm::Point &p, const double r)
void	addKnownFreePoint (OverlayClouds *overlay, const geometry_msgs::Point &p, double r)
	Assert that a square centered at this point with side 2*r contains no obstacles.
geometry_msgs::Point	cellCenter (const nav_msgs::MapMetaData &info, const Cell &c)
	Return center of a cell.
index_t	cellIndex (const nav_msgs::MapMetaData &info, const Cell &c)
	Returns the index of a cell.
geometry_msgs::Polygon	cellPolygon (const nav_msgs::MapMetaData &info, const Cell &c)
	Return polygon corresponding to a cell.
bool	cellsIntersect (const nm::MapMetaData &info1, const Cell &c1, const nm::MapMetaData &info2, const Cell &c2)
bool	cellWithinBounds (const nm::MapMetaData &info, const Cell &c)
GridPtr	combineGrids (const vector< GridConstPtr > &grids)
GridPtr	combineGrids (const vector< GridConstPtr > &grids, const double resolution)
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids)
	Version of combineGrids that uses the resolution of the first grid.
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids, double resolution)
	Combines a set of grids.
bool	containsVertex (const nm::MapMetaData &info, const Cell &c, const gm::Polygon &poly)
OverlayClouds	createCloudOverlay (const nm::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold, double max_distance, double min_pass_through)
OverlayClouds	createCloudOverlay (const nav_msgs::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold=DEFAULT_OCCUPANCY_THRESHOLD, double max_distance=DEFAULT_MAX_DISTANCE, double min_pass_through=DEFAULT_MIN_PASS_THROUGH)
	Create a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.
int8_t	determineOccupancy (const unsigned hit_count, const unsigned pass_through_count, const double occupancy_threshold, const double min_pass_through)
boost::optional< double >	distance (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
double	euclideanDistance (const gm::Point &p1, const gm::Point &p2)
gm::Polygon	expandPolygon (const gm::Polygon &p, const double r)
boost::optional< Path >	extractPath (ResultPtr shortest_path_result, const Cell &dest)
	Extract a path from the result of single-source shortest paths.
nm::MapMetaData	getCombinedGridInfo (const vector< GridConstPtr > &grids, const double resolution)
nav_msgs::OccupancyGrid::Ptr	getGrid (const OverlayClouds &overlay)
	Get the current grid. It's fine to modify the returned object.
nav_msgs::MapMetaData	gridInfo (const OverlayClouds &overlay)
geometry_msgs::Polygon	gridPolygon (const nav_msgs::MapMetaData &info)
	Return polygon corresponding to grid bounds.
Cell	indexCell (const nav_msgs::MapMetaData &info, index_t ind)
	Returns cell corresponding to index.
GridPtr	inflateObstacles (const nm::OccupancyGrid &g, const double r, const bool allow_unknown)
nav_msgs::OccupancyGrid::Ptr	inflateObstacles (const nav_msgs::OccupancyGrid &g, double r, bool allow_unknown=false)
	Inflate obstacles in a grid.
set< Cell >	intersectingCells (const nm::MapMetaData &info, const nm::MapMetaData &info2, const Cell &cell2)
double	manhattanHeuristic (const Cell &c1, const Cell &c2)
tf::Transform	mapToWorld (const nav_msgs::MapMetaData &info)
double	maxX (const nm::MapMetaData &info)
double	maxY (const nm::MapMetaData &info)
double	minX (const nm::MapMetaData &info)
double	minY (const nm::MapMetaData &info)
bool	myGt (const signed char x, const signed char y)
bool	operator< (const QueueItem &i1, const QueueItem &i2)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::occupancy_grid_utils::OverlayClouds_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::occupancy_grid_utils::NavigationFunction_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::occupancy_grid_utils::LocalizedCloud_< ContainerAllocator > &v)
std::ostream &	operator<< (std::ostream &str, const Cell &c)
Cell	point32Cell (const nm::MapMetaData &info, const gm::Point32 &p)
Cell	pointCell (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns cell corresponding to a point.
index_t	pointIndex (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns index of a point.
RayTraceIterRange	rayTrace (const nm::MapMetaData &info, const gm::Point &p1, const gm::Point &p2, bool project_onto_grid, bool project_source_onto_grid)
RayTraceIterRange	rayTrace (const Cell &c1, const Cell &c2)
RayTraceIterRange	rayTrace (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p1, const geometry_msgs::Point &p2, bool project_target_onto_grid=false, bool project_source_onto_grid=false)
	Returns an iterator range over the cells on the line segment between two points (inclusive).
optional< Cell >	rayTraceOntoGrid (const nm::MapMetaData &info, const Cell &c1, const Cell &c2)
void	removeCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Effectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay.
void	resetCounts (OverlayClouds *overlay)
optional< AStarResult >	shortestPath (const nm::OccupancyGrid &g, const Cell &src, const Cell &dest)
boost::optional< AStarResult >	shortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.
ResultPtr	shortestPathResultFromMessage (const NavigationFunction &msg)
	Convert a shortest path result from a ros message.
NavigationFunction	shortestPathResultToMessage (ResultPtr res)
	Convert a shortest path result to a ros message.
int8_t	sign (const coord_t x)
ResultPtr	singleSourceShortestPaths (const nm::OccupancyGrid &g, const Cell &src, const TerminationCondition &t)
ResultPtr	singleSourceShortestPaths (const nm::OccupancyGrid &g, const Cell &src)
ResultPtr	singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, const TerminationCondition &term)
	Single source Dijkstra's algorithm.
ResultPtr	singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src)
	Single source Dijkstra's algorithm.
gm::Pose	transformPose (const btTransform trans, const gm::Pose p)
gm::Point	transformPt (const btTransform &trans, const gm::Point32 &p)
bool	withinBounds (const nav_msgs::MapMetaData &info, const Cell &c)
	Check if a cell is on the grid.
bool	withinBounds (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Check if a point is on the grid.
tf::Transform	worldToMap (const nav_msgs::MapMetaData &info)
Variables
const double	DEFAULT_MAX_DISTANCE = 10.0
	Default max_distance for OverlayClouds.
const double	DEFAULT_MIN_PASS_THROUGH = 2
	Default min_pass_through for OverlayClouds.
const double	DEFAULT_OCCUPANCY_THRESHOLD = 0.1
	Default occupancy threshold for OverlayClouds.
const int8_t	OCCUPIED = 100
const int8_t	UNKNOWN = 255
const int8_t	UNOCCUPIED = 0

Typedef Documentation

typedef std::pair< Path, double > occupancy_grid_utils::AStarResult

Definition at line 72 of file shortest_path.h.

typedef std::set<Cell> occupancy_grid_utils::Cells

Definition at line 70 of file shortest_path.h.

typedef int16_t occupancy_grid_utils::coord_t

Definition at line 55 of file coordinate_conversions.h.

typedef boost::shared_ptr< nm::OccupancyGrid const > occupancy_grid_utils::GridConstPtr

Definition at line 55 of file combine_grids.cpp.

typedef boost::shared_ptr< nm::OccupancyGrid > occupancy_grid_utils::GridPtr

Definition at line 54 of file combine_grids.cpp.

typedef uint32_t occupancy_grid_utils::index_t

Definition at line 54 of file coordinate_conversions.h.

typedef ::occupancy_grid_utils::LocalizedCloud_<std::allocator<void> > occupancy_grid_utils::LocalizedCloud

Definition at line 202 of file LocalizedCloud.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::LocalizedCloud const> occupancy_grid_utils::LocalizedCloudConstPtr

Definition at line 205 of file LocalizedCloud.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::LocalizedCloud> occupancy_grid_utils::LocalizedCloudPtr

Definition at line 204 of file LocalizedCloud.h.

typedef ::occupancy_grid_utils::NavigationFunction_<std::allocator<void> > occupancy_grid_utils::NavigationFunction

Definition at line 167 of file NavigationFunction.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::NavigationFunction const> occupancy_grid_utils::NavigationFunctionConstPtr

Definition at line 170 of file NavigationFunction.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::NavigationFunction> occupancy_grid_utils::NavigationFunctionPtr

Definition at line 169 of file NavigationFunction.h.

typedef ::occupancy_grid_utils::OverlayClouds_<std::allocator<void> > occupancy_grid_utils::OverlayClouds

Definition at line 213 of file OverlayClouds.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds const> occupancy_grid_utils::OverlayCloudsConstPtr

Definition at line 216 of file OverlayClouds.h.

typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds> occupancy_grid_utils::OverlayCloudsPtr

Definition at line 215 of file OverlayClouds.h.

typedef vector< Cell > occupancy_grid_utils::Path

Definition at line 71 of file shortest_path.h.

typedef std::pair<RayTraceIterator, RayTraceIterator> occupancy_grid_utils::RayTraceIterRange

Definition at line 13 of file ray_tracer.h.

typedef boost::shared_ptr<const ShortestPathResult> occupancy_grid_utils::ResultPtr

Definition at line 68 of file shortest_path.h.

Function Documentation

void occupancy_grid_utils::addCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud,
		const int	inc
	)

Definition at line 130 of file grid_overlay.cpp.

void occupancy_grid_utils::addCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud
	)

Raytrace a cloud onto grid in overlay.

Definition at line 187 of file grid_overlay.cpp.

void occupancy_grid_utils::addKnownFreePoint	(	OverlayClouds *	overlay,
		const gm::Point &	p,
		const double	r
	)

Definition at line 109 of file grid_overlay.cpp.

void occupancy_grid_utils::addKnownFreePoint	(	OverlayClouds *	overlay,
		const geometry_msgs::Point &	p,
		double	r
	)

Assert that a square centered at this point with side 2*r contains no obstacles.

geometry_msgs::Point occupancy_grid_utils::cellCenter	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)			`[inline]`

Return center of a cell.

Definition at line 158 of file coordinate_conversions.h.

index_t occupancy_grid_utils::cellIndex	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)			`[inline]`

Returns the index of a cell.

Exceptions:

CellOutOfBoundsException

if cell isn't within grid bounds

Definition at line 113 of file coordinate_conversions.h.

geometry_msgs::Polygon occupancy_grid_utils::cellPolygon	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)			`[inline]`

Return polygon corresponding to a cell.

Definition at line 167 of file coordinate_conversions.h.

bool occupancy_grid_utils::cellsIntersect	(	const nm::MapMetaData &	info1,
		const Cell &	c1,
		const nm::MapMetaData &	info2,
		const Cell &	c2
	)			`[inline]`

Definition at line 78 of file combine_grids.cpp.

bool occupancy_grid_utils::cellWithinBounds	(	const nm::MapMetaData &	info,
		const Cell &	c
	)			`[inline]`

Definition at line 25 of file ray_tracer.cpp.

GridPtr occupancy_grid_utils::combineGrids ( const vector< GridConstPtr > & grids )

Definition at line 241 of file combine_grids.cpp.

GridPtr occupancy_grid_utils::combineGrids	(	const vector< GridConstPtr > &	grids,
		const double	resolution
	)

Definition at line 210 of file combine_grids.cpp.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids ( const std::vector< nav_msgs::OccupancyGrid::ConstPtr > & grids )

Version of combineGrids that uses the resolution of the first grid.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids	(	const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &	grids,
		double	resolution
	)

Combines a set of grids.

The resulting grid's origin will be a translated version of grid 1's origin, with resolution resolution

The policy for combination is that for each cell, we look at each grid cell that intersects it and consider their values. Map these to integers, where everything above OCCUPIED (100) goes to -1. Then take the max. If there are no intersecting cells, value is -1.

Assumes all grids lie on the xy plane, and will fail in weird ways if that's not true

bool occupancy_grid_utils::containsVertex	(	const nm::MapMetaData &	info,
		const Cell &	c,
		const gm::Polygon &	poly
	)			`[inline]`

Definition at line 67 of file combine_grids.cpp.

OverlayClouds occupancy_grid_utils::createCloudOverlay	(	const nm::OccupancyGrid &	grid,
		const std::string &	frame_id,
		double	occupancy_threshold,
		double	max_distance,
		double	min_pass_through
	)

Definition at line 93 of file grid_overlay.cpp.

OverlayClouds occupancy_grid_utils::createCloudOverlay	(	const nav_msgs::OccupancyGrid &	grid,
		const std::string &	frame_id,
		double	occupancy_threshold = `DEFAULT_OCCUPANCY_THRESHOLD`,
		double	max_distance = `DEFAULT_MAX_DISTANCE`,
		double	min_pass_through = `DEFAULT_MIN_PASS_THROUGH`
	)

Create a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.

Parameters:

	grid	Contains the geometry of the underlying grid. Additionally, iff the data field of this object is nonempty, rays will not be allowed to pass through obstacles in the grid.
	frame_id	The frame name for the overlaid grid. Added clouds must have this frame_id
	occupancy_threshold	what fraction of rays through the cell must end there for it to be considered an obstacle
	max_distance	hits beyond this distance from the source are ignored
	min_pass_through	cells with fewer than this many rays through them are marked UNKNOWN

int8_t occupancy_grid_utils::determineOccupancy	(	const unsigned	hit_count,
		const unsigned	pass_through_count,
		const double	occupancy_threshold,
		const double	min_pass_through
	)			`[inline]`

Definition at line 78 of file grid_overlay.cpp.

boost::optional< double > occupancy_grid_utils::distance	(	ResultPtr	shortest_path_result,
		const Cell &	dest
	)

From result of single-source shortest paths, extract distance to some destination.

Return values:

Distance

if path exists, uninitialized otherwise

Definition at line 75 of file shortest_path.cpp.

double occupancy_grid_utils::euclideanDistance	(	const gm::Point &	p1,
		const gm::Point &	p2
	)			`[inline]`

Definition at line 68 of file grid_overlay.cpp.

gm::Polygon occupancy_grid_utils::expandPolygon	(	const gm::Polygon &	p,
		const double	r
	)			`[inline]`

Definition at line 85 of file combine_grids.cpp.

boost::optional< Path > occupancy_grid_utils::extractPath	(	ResultPtr	shortest_path_result,
		const Cell &	dest
	)

Extract a path from the result of single-source shortest paths.

Return values:

path

If path exists, vector of cells where the source is first and dest is last; if not, uninitialized

Definition at line 82 of file shortest_path.cpp.

nm::MapMetaData occupancy_grid_utils::getCombinedGridInfo	(	const vector< GridConstPtr > &	grids,
		const double	resolution
	)

Definition at line 171 of file combine_grids.cpp.

GridPtr occupancy_grid_utils::getGrid ( const OverlayClouds & overlay )

Get the current grid. It's fine to modify the returned object.

Definition at line 199 of file grid_overlay.cpp.

nm::MapMetaData occupancy_grid_utils::gridInfo ( const OverlayClouds & overlay )

Definition at line 218 of file grid_overlay.cpp.

geometry_msgs::Polygon occupancy_grid_utils::gridPolygon ( const nav_msgs::MapMetaData & info ) [inline]

Return polygon corresponding to grid bounds.

Definition at line 186 of file coordinate_conversions.h.

Cell occupancy_grid_utils::indexCell	(	const nav_msgs::MapMetaData &	info,
		index_t	ind
	)			`[inline]`

Returns cell corresponding to index.

Definition at line 121 of file coordinate_conversions.h.

GridPtr occupancy_grid_utils::inflateObstacles	(	const nm::OccupancyGrid &	g,
		const double	r,
		const bool	allow_unknown
	)

Definition at line 202 of file shortest_path.cpp.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::inflateObstacles	(	const nav_msgs::OccupancyGrid &	g,
		double	r,
		bool	allow_unknown = `false`
	)

Inflate obstacles in a grid.

Obstacles are cell values that are not 0, unless allow_unknown is true, in which case -1 is not considered an obstacle. If there exist obstacles within radius r meters of a cell, its value is replaced by the max of their values (-1 is considered to be the same as 1 for this). Rounds up when converting from meters to cells

set<Cell> occupancy_grid_utils::intersectingCells	(	const nm::MapMetaData &	info,
		const nm::MapMetaData &	info2,
		const Cell &	cell2
	)

Definition at line 110 of file combine_grids.cpp.

double occupancy_grid_utils::manhattanHeuristic	(	const Cell &	c1,
		const Cell &	c2
	)			`[inline]`

Definition at line 285 of file shortest_path.cpp.

tf::Transform occupancy_grid_utils::mapToWorld ( const nav_msgs::MapMetaData & info ) [inline]

Definition at line 129 of file coordinate_conversions.h.

double occupancy_grid_utils::maxX ( const nm::MapMetaData & info )

Definition at line 143 of file combine_grids.cpp.

double occupancy_grid_utils::maxY ( const nm::MapMetaData & info )

Definition at line 155 of file combine_grids.cpp.

double occupancy_grid_utils::minX ( const nm::MapMetaData & info )

Definition at line 137 of file combine_grids.cpp.

double occupancy_grid_utils::minY ( const nm::MapMetaData & info )

Definition at line 149 of file combine_grids.cpp.

bool occupancy_grid_utils::myGt	(	const signed char	x,
		const signed char	y
	)			`[inline]`

Definition at line 188 of file shortest_path.cpp.

bool occupancy_grid_utils::operator<	(	const QueueItem &	i1,
		const QueueItem &	i2
	)

Definition at line 117 of file shortest_path.cpp.

template<typename ContainerAllocator >

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	s,
		const ::occupancy_grid_utils::OverlayClouds_< ContainerAllocator > &	v
	)			`[inline]`

Definition at line 220 of file OverlayClouds.h.

template<typename ContainerAllocator >

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	s,
		const ::occupancy_grid_utils::NavigationFunction_< ContainerAllocator > &	v
	)			`[inline]`

Definition at line 174 of file NavigationFunction.h.

template<typename ContainerAllocator >

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	s,
		const ::occupancy_grid_utils::LocalizedCloud_< ContainerAllocator > &	v
	)			`[inline]`

Definition at line 209 of file LocalizedCloud.h.

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	str,
		const Cell &	c
	)			`[inline]`

Definition at line 218 of file coordinate_conversions.h.

Cell occupancy_grid_utils::point32Cell	(	const nm::MapMetaData &	info,
		const gm::Point32 &	p
	)			`[inline]`

Definition at line 57 of file combine_grids.cpp.

Cell occupancy_grid_utils::pointCell	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)			`[inline]`

Returns cell corresponding to a point.

The z coordinate of the point is ignored.

Definition at line 143 of file coordinate_conversions.h.

index_t occupancy_grid_utils::pointIndex	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)			`[inline]`

Returns index of a point.

Exceptions:

CellOutOfBoundsException

if point isn't within grid bounds

Ignores z coordinate of point

Definition at line 152 of file coordinate_conversions.h.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const nm::MapMetaData &	info,
		const gm::Point &	p1,
		const gm::Point &	p2,
		bool	project_onto_grid,
		bool	project_source_onto_grid
	)

Definition at line 40 of file ray_tracer.cpp.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const Cell &	c1,
		const Cell &	c2
	)

Definition at line 19 of file ray_tracer.cpp.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2,
		bool	project_target_onto_grid = `false`,
		bool	project_source_onto_grid = `false`
	)

Returns an iterator range over the cells on the line segment between two points (inclusive).

Parameters:

	project_target_onto_grid	If true, p2 may be off the grid, in which case the ray stops right before falling off the grid
	project_source_onto_grid	If true, p1 may be off the grid, in which case the ray

Exceptions:

	PointOutOfBoundsException	if p1 is off grid and project_source_onto_grid is false
	PointOutOfBoundsException	if p2 is off grid and project_target_onto_grid is false

Return values:

range

models Forward range with reference type const Cell&, i.e., it's a pair of iterators that you can use in for loops, std::for_each, etc.

optional<Cell> occupancy_grid_utils::rayTraceOntoGrid	(	const nm::MapMetaData &	info,
		const Cell &	c1,
		const Cell &	c2
	)

Definition at line 30 of file ray_tracer.cpp.

void occupancy_grid_utils::removeCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud
	)

Effectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay.

Definition at line 192 of file grid_overlay.cpp.

void occupancy_grid_utils::resetCounts ( OverlayClouds * overlay )

Definition at line 212 of file grid_overlay.cpp.

optional<AStarResult> occupancy_grid_utils::shortestPath	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

Definition at line 290 of file shortest_path.cpp.

boost::optional<AStarResult> occupancy_grid_utils::shortestPath	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

A* using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.

Returns:: If a path is not found, an uninitialized optional. Else, the path and the cost. Currently, though, the path is not returned, just the cost.

ResultPtr occupancy_grid_utils::shortestPathResultFromMessage ( const NavigationFunction & msg )

Convert a shortest path result from a ros message.

Definition at line 350 of file shortest_path.cpp.

NavigationFunction occupancy_grid_utils::shortestPathResultToMessage ( ResultPtr res )

Convert a shortest path result to a ros message.

Definition at line 385 of file shortest_path.cpp.

int8_t occupancy_grid_utils::sign ( const coord_t x ) [inline]

Definition at line 8 of file ray_trace_iterator.h.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const TerminationCondition &	t
	)

Definition at line 128 of file shortest_path.cpp.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nm::OccupancyGrid &	g,
		const Cell &	src
	)

Definition at line 123 of file shortest_path.cpp.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		const TerminationCondition &	term
	)

Single source Dijkstra's algorithm.

Return values:

Structure

from which paths can be extracted or distances computed

Parameters:

term

allows stopping early when a distance bound is reached or when a a set of goal cells have been found

Each cell is connected to its horizontal and vertical neighbors, with cost 1, and diagonal neighbors with cost sqrt(2). Only cells with value UNOCCUPIED are considered.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src
	)

Single source Dijkstra's algorithm.

Return values:

Structure

from which paths can be extracted or distances computed

Each cell is connected to its horizontal and vertical neighbors, with cost 1, and diagonal neighbors with cost sqrt(2). Only cells with value UNOCCUPIED are considered.