OccupancyGrid Class Reference

#include <occupancy_grid.h>

List of all members.

Public Member Functions
void	addCollisionCuboid (double origin_x, double origin_y, double origin_z, double size_x, double size_y, double size_z)
	manually add a cuboid to the collision map
void	addPointsToField (const std::vector< btVector3 > &points)
double	getCell (int *xyz)
	get the cell's distance to the nearest obstacle in meters
unsigned char	getCell (int x, int y, int z)
	get the cell's distance to the nearest obstacle in cells
const distance_field::PropagationDistanceField *	getDistanceFieldPtr ()
	return a pointer to the distance field
void	getGridSize (short unsigned int *dims)
	get the dimensions of the grid
void	getGridSize (int &dim_x, int &dim_y, int &dim_z)
	get the dimensions of the grid
void	getOrigin (double &wx, double &wy, double &wz)
	get the origin of the world (meters)
std::string	getReferenceFrame ()
double	getResolution ()
	get the resolution of the world (meters)
void	getVoxelsInBox (const geometry_msgs::Pose &pose, const std::vector< double > &dim, std::vector< btVector3 > &voxels)
void	getWorldSize (double &dim_x, double &dim_y, double &dim_z)
	get the dimensions of the world (meters)
void	gridToWorld (int x, int y, int z, double &wx, double &wy, double &wz)
	convert grid cell coords into world coords
bool	isInBounds (int x, int y, int z)
	check if {x,y,z} is in bounds of the grid
	OccupancyGrid (double dim_x, double dim_y, double dim_z, double resolution, double origin_x, double origin_y, double origin_z)
	Constructor.
	OccupancyGrid ()
	Default constructor - sets default values.
void	printGridFromBinaryFile (std::string filename)
bool	saveGridToBinaryFile (std::string filename)
void	setOrigin (double wx, double wy, double wz)
	set the origin of the world (meters)
void	setResolution (double resolution_m)
	set the resolution of the world (meters)
void	setWorldSize (double dim_x, double dim_y, double dim_z)
	set the dimensions of the world (meters)
void	updateFromCollisionMap (const mapping_msgs::CollisionMap &collision_map)
	update the distance field from the collision_map
void	visualize ()
	display distance field visualizations to rviz
void	worldToGrid (double wx, double wy, double wz, int &x, int &y, int &z)
	convert world coords into grid cell coords
	~OccupancyGrid ()
	destructor
Private Attributes
std::vector< btVector3 >	cuboid_points_
distance_field::PropagationDistanceField *	grid_
double	grid_resolution_
int	grid_size_ [3]
double	origin_ [3]
double	prop_distance_
std::string	reference_frame_
double	world_size_ [3]

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Detailed Description

Definition at line 45 of file occupancy_grid.h.

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Constructor & Destructor Documentation

OccupancyGrid::OccupancyGrid

(

)

Default constructor - sets default values.

Definition at line 38 of file occupancy_grid.cpp.

OccupancyGrid::OccupancyGrid	(	double	dim_x,
		double	dim_y,
		double	dim_z,
		double	resolution,
		double	origin_x,
		double	origin_y,
		double	origin_z
	)

Constructor.

Parameters:

	dimension	of grid along X
	dimension	of grid along Y
	dimension	of grid along Z
	resolution	of grid (meters)
	X	coordinate of origin (meters)
	Y	coordinate of origin (meters)
	Z	coordinate of origin (meters)

Definition at line 63 of file occupancy_grid.cpp.

OccupancyGrid::~OccupancyGrid

(

)

destructor

Definition at line 87 of file occupancy_grid.cpp.

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Member Function Documentation

void OccupancyGrid::addCollisionCuboid	(	double	origin_x,
		double	origin_y,
		double	origin_z,
		double	size_x,
		double	size_y,
		double	size_z
	)

manually add a cuboid to the collision map

Parameters:

	X_origin_of_cuboid
	Y_origin_of_cuboid
	Z_origin_of_cuboid
	size	along the X dimension (meters)
	size	along the Y dimension (meters)
	size	along the Z dimension (meters)

Definition at line 155 of file occupancy_grid.cpp.

void OccupancyGrid::addPointsToField

(

const std::vector< btVector3 > &

points

)

[inline]

Definition at line 182 of file occupancy_grid.h.

double OccupancyGrid::getCell

(

int *

xyz

)

[inline]

get the cell's distance to the nearest obstacle in meters

Definition at line 164 of file occupancy_grid.h.

unsigned char OccupancyGrid::getCell	(	int	x,
		int	y,
		int	z
	)			[inline]

get the cell's distance to the nearest obstacle in cells

Definition at line 159 of file occupancy_grid.h.

const distance_field::PropagationDistanceField * OccupancyGrid::getDistanceFieldPtr

(

)

return a pointer to the distance field

Definition at line 207 of file occupancy_grid.cpp.

void OccupancyGrid::getGridSize

(

short unsigned int *

dims

)

get the dimensions of the grid

void OccupancyGrid::getGridSize	(	int &	dim_x,
		int &	dim_y,
		int &	dim_z
	)

get the dimensions of the grid

Definition at line 92 of file occupancy_grid.cpp.

void OccupancyGrid::getOrigin	(	double &	wx,
		double &	wy,
		double &	wz
	)

get the origin of the world (meters)

Definition at line 122 of file occupancy_grid.cpp.

std::string OccupancyGrid::getReferenceFrame

(

)

[inline]

Definition at line 177 of file occupancy_grid.h.

double OccupancyGrid::getResolution

(

)

get the resolution of the world (meters)

Definition at line 134 of file occupancy_grid.cpp.

void OccupancyGrid::getVoxelsInBox	(	const geometry_msgs::Pose &	pose,
		const std::vector< double > &	dim,
		std::vector< btVector3 > &	voxels
	)

Definition at line 177 of file occupancy_grid.cpp.

void OccupancyGrid::getWorldSize	(	double &	dim_x,
		double &	dim_y,
		double &	dim_z
	)

get the dimensions of the world (meters)

Definition at line 108 of file occupancy_grid.cpp.

void OccupancyGrid::gridToWorld	(	int	x,
		int	y,
		int	z,
		double &	wx,
		double &	wy,
		double &	wz
	)			[inline]

convert grid cell coords into world coords

Definition at line 149 of file occupancy_grid.h.

bool OccupancyGrid::isInBounds	(	int	x,
		int	y,
		int	z
	)			[inline]

check if {x,y,z} is in bounds of the grid

Definition at line 169 of file occupancy_grid.h.

void OccupancyGrid::printGridFromBinaryFile

(

std::string

filename

)

Definition at line 212 of file occupancy_grid.cpp.

bool OccupancyGrid::saveGridToBinaryFile

(

std::string

filename

)

Definition at line 253 of file occupancy_grid.cpp.

void OccupancyGrid::setOrigin	(	double	wx,
		double	wy,
		double	wz
	)

set the origin of the world (meters)

Definition at line 115 of file occupancy_grid.cpp.

void OccupancyGrid::setResolution

(

double

resolution_m

)

set the resolution of the world (meters)

Definition at line 129 of file occupancy_grid.cpp.

void OccupancyGrid::setWorldSize	(	double	dim_x,
		double	dim_y,
		double	dim_z
	)

set the dimensions of the world (meters)

Definition at line 99 of file occupancy_grid.cpp.

void OccupancyGrid::updateFromCollisionMap

(

const mapping_msgs::CollisionMap &

collision_map

)

update the distance field from the collision_map

Definition at line 139 of file occupancy_grid.cpp.

void OccupancyGrid::visualize

(

)

display distance field visualizations to rviz

Definition at line 200 of file occupancy_grid.cpp.

void OccupancyGrid::worldToGrid	(	double	wx,
		double	wy,
		double	wz,
		int &	x,
		int &	y,
		int &	z
	)			[inline]

convert world coords into grid cell coords

Definition at line 154 of file occupancy_grid.h.

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Member Data Documentation

std::vector<btVector3> OccupancyGrid::cuboid_points_ [private]

Definition at line 146 of file occupancy_grid.h.

distance_field::PropagationDistanceField* OccupancyGrid::grid_ [private]

Definition at line 144 of file occupancy_grid.h.

double OccupancyGrid::grid_resolution_ [private]

Definition at line 138 of file occupancy_grid.h.

int OccupancyGrid::grid_size_[3] [private]

Definition at line 141 of file occupancy_grid.h.

double OccupancyGrid::origin_[3] [private]

Definition at line 137 of file occupancy_grid.h.

double OccupancyGrid::prop_distance_ [private]

Definition at line 140 of file occupancy_grid.h.

std::string OccupancyGrid::reference_frame_ [private]

Definition at line 143 of file occupancy_grid.h.

double OccupancyGrid::world_size_[3] [private]

Definition at line 139 of file occupancy_grid.h.

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The documentation for this class was generated from the following files:

• occupancy_grid.h
• occupancy_grid.cpp