grid_overlay.cpp File Reference

#include <occupancy_grid_utils/ray_tracer.h>
#include <ros/assert.h>
#include <tf/transform_datatypes.h>
#include <boost/foreach.hpp>
#include <boost/bind.hpp>
#include <boost/ref.hpp>
#include <boost/optional.hpp>
#include "gcc_version.h"

Include dependency graph for grid_overlay.cpp:

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Namespaces
namespace	occupancy_grid_utils
Functions
void	occupancy_grid_utils::addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Raytrace a cloud onto grid in overlay.
void	occupancy_grid_utils::addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud, const int inc)
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.
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.
int8_t	occupancy_grid_utils::determineOccupancy (const unsigned hit_count, const unsigned pass_through_count, const double occupancy_threshold, const double min_pass_through)
double	occupancy_grid_utils::euclideanDistance (const gm::Point &p1, const gm::Point &p2)
nav_msgs::OccupancyGrid::Ptr	occupancy_grid_utils::getGrid (const OverlayClouds &overlay)
	Get the current grid. It's fine to modify the returned object.
nav_msgs::MapMetaData	occupancy_grid_utils::gridInfo (const OverlayClouds &overlay)
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.
void	occupancy_grid_utils::resetCounts (OverlayClouds *overlay)
gm::Point	occupancy_grid_utils::transformPt (const tf::Pose &trans, const gm::Point32 &p)

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Detailed Description

Implements overlayClouds

Author:

Bhaskara Marthi

Definition in file grid_overlay.cpp.