karto::OccupancyGrid Class Reference

#include <Karto.h>

Inheritance diagram for karto::OccupancyGrid:

Public Member Functions
OccupancyGrid *	Clone () const
virtual Grid< kt_int32u > *	GetCellHitsCounts ()
virtual Grid< kt_int32u > *	GetCellPassCounts ()
virtual kt_bool	IsFree (const Vector2< kt_int32s > &rPose) const
	OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2< kt_double > &rOffset, kt_double resolution)
virtual kt_double	RayCast (const Pose2 &rPose2, kt_double maxRange) const
virtual	~OccupancyGrid ()
Static Public Member Functions
static OccupancyGrid *	CreateFromScans (const LocalizedRangeScanVector &rScans, kt_double resolution)
Protected Member Functions
virtual kt_bool	AddScan (LocalizedRangeScan *pScan, kt_bool doUpdate=false)
virtual void	CreateFromScans (const LocalizedRangeScanVector &rScans)
virtual kt_bool	RayTrace (const Vector2< kt_double > &rWorldFrom, const Vector2< kt_double > &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)
virtual void	Resize (kt_int32s width, kt_int32s height)
virtual void	Update ()
virtual void	UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)
Static Protected Member Functions
static void	ComputeDimensions (const LocalizedRangeScanVector &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2< kt_double > &rOffset)
Protected Attributes
Grid< kt_int32u > *	m_pCellHitsCnt
Grid< kt_int32u > *	m_pCellPassCnt
Private Member Functions
	OccupancyGrid (const OccupancyGrid &)
const OccupancyGrid &	operator= (const OccupancyGrid &)
Private Attributes
CellUpdater *	m_pCellUpdater
Parameter< kt_int32u > *	m_pMinPassThrough
Parameter< kt_double > *	m_pOccupancyThreshold
Friends
class	CellUpdater

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 5238 of file Karto.h.

Constructor & Destructor Documentation

virtual karto::OccupancyGrid::~OccupancyGrid ( ) [inline, virtual]

Destructor

Definition at line 5246 of file Karto.h.

karto::OccupancyGrid::OccupancyGrid	(	kt_int32s	width,
		kt_int32s	height,
		const Vector2< kt_double > &	rOffset,
		kt_double	resolution
	)			`[inline]`

Constructs an occupancy grid of given size

Parameters:

	width
	height
	rOffset
	resolution

Definition at line 5265 of file Karto.h.

karto::OccupancyGrid::OccupancyGrid ( const OccupancyGrid & ) [private]

Restrict the copy constructor

Member Function Documentation

virtual kt_bool karto::OccupancyGrid::AddScan	(	LocalizedRangeScan *	pScan,
		kt_bool	doUpdate = `false`
	)			`[inline, protected, virtual]`

Adds the scan's information to this grid's counters (optionally update the grid's cells' occupancy status)

Parameters:

	pScan
	doUpdate	whether to update the grid's cell's occupancy status

Returns:: returns false if an endpoint fell off the grid, otherwise true

Definition at line 5440 of file Karto.h.

OccupancyGrid* karto::OccupancyGrid::Clone ( ) const [inline]

Make a clone

Returns:: occupancy grid clone

Definition at line 5310 of file Karto.h.

static void karto::OccupancyGrid::ComputeDimensions	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution,
		kt_int32s &	rWidth,
		kt_int32s &	rHeight,
		Vector2< kt_double > &	rOffset
	)			`[inline, static, protected]`

Definition at line 5396 of file Karto.h.

virtual void karto::OccupancyGrid::CreateFromScans ( const LocalizedRangeScanVector & rScans ) [inline, protected, virtual]

Create grid using scans

Parameters:

scans

Definition at line 5416 of file Karto.h.

static OccupancyGrid* karto::OccupancyGrid::CreateFromScans	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution
	)			`[inline, static]`

Create an occupancy grid from the given scans using the given resolution

Parameters:

	scans
	resolution

Definition at line 5290 of file Karto.h.

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellHitsCounts ( ) [inline, virtual]

Definition at line 5385 of file Karto.h.

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellPassCounts ( ) [inline, virtual]

Definition at line 5390 of file Karto.h.

virtual kt_bool karto::OccupancyGrid::IsFree ( const Vector2< kt_int32s > & rPose ) const [inline, virtual]

Check if grid point is free

Parameters:

rPose

Returns:: whether the cell at the given point is free space

Definition at line 5327 of file Karto.h.

const OccupancyGrid& karto::OccupancyGrid::operator= ( const OccupancyGrid & ) [private]

Restrict the assignment operator

virtual kt_double karto::OccupancyGrid::RayCast	(	const Pose2 &	rPose2,
		kt_double	maxRange
	)			const `[inline, virtual]`

Casts a ray from the given point (up to the given max range) and returns the distance to the closest obstacle

Parameters:

	rPose2
	maxRange

Returns:: distance to closest obstacle

Definition at line 5345 of file Karto.h.

virtual kt_bool karto::OccupancyGrid::RayTrace	(	const Vector2< kt_double > &	rWorldFrom,
		const Vector2< kt_double > &	rWorldTo,
		kt_bool	isEndPointValid,
		kt_bool	doUpdate = `false`
	)			`[inline, protected, virtual]`

Traces a beam from the start position to the end position marking the bookkeeping arrays accordingly.

Parameters:

	rWorldFrom	start position of beam
	rWorldTo	end position of beam
	isEndPointValid	is the reading within the range threshold?
	pCoordinatorConverter	converter from world to grid coordinates
	whether	to update the cells' occupancy status immediately