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humanoid_localization::MapModel Class Reference

#include <MapModel.h>

Inheritance diagram for humanoid_localization::MapModel:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual double getFloorHeight (const tf::Transform &pose) const =0
void getHeightlist (double x, double y, double totalHeight, std::vector< double > &heights)
boost::shared_ptr
< octomap::OcTree > 
getMap () const
virtual void initGlobal (Particles &particles, const Vector6d &initPose, const Vector6d &initNoise, UniformGeneratorT &rngUniform, NormalGeneratorT &rngNormal)
virtual bool isOccupied (octomap::OcTreeNode *node) const =0
virtual bool isOccupied (const octomap::point3d &position) const
 MapModel (ros::NodeHandle *nh)
virtual void verifyPoses (Particles &particles)
virtual ~MapModel ()

Protected Attributes

boost::shared_ptr
< octomap::OcTree > 
m_map
double m_motionMeanZ
double m_motionObstacleDist
double m_motionRangePitch
double m_motionRangeRoll
double m_motionRangeZ

Detailed Description

Definition at line 37 of file MapModel.h.


Constructor & Destructor Documentation

humanoid_localization::MapModel::MapModel ( ros::NodeHandle nh  ) 

Definition at line 27 of file MapModel.cpp.

humanoid_localization::MapModel::~MapModel (  )  [virtual]

Definition at line 43 of file MapModel.cpp.


Member Function Documentation

virtual double humanoid_localization::MapModel::getFloorHeight ( const tf::Transform pose  )  const [pure virtual]
void humanoid_localization::MapModel::getHeightlist ( double  x,
double  y,
double  totalHeight,
std::vector< double > &  heights 
)

Get a list of valid z values at a given xy-position

Parameters:
x 
y 
totalHeight clearance of the robot required to be free
[out] heights list of valid heights, return by ref.

Definition at line 173 of file MapModel.cpp.

boost::shared_ptr< octomap::OcTree > humanoid_localization::MapModel::getMap (  )  const

Definition at line 48 of file MapModel.cpp.

void humanoid_localization::MapModel::initGlobal ( Particles particles,
const Vector6d initPose,
const Vector6d initNoise,
UniformGeneratorT rngUniform,
NormalGeneratorT rngNormal 
) [virtual]

Definition at line 133 of file MapModel.cpp.

virtual bool humanoid_localization::MapModel::isOccupied ( octomap::OcTreeNode *  node  )  const [pure virtual]
bool humanoid_localization::MapModel::isOccupied ( const octomap::point3d &  position  )  const [virtual]
Returns:
whether a map coordinate is occupied. Will return "false" if the coordinate does not exist in the map (e.g. out of bounds).

Definition at line 194 of file MapModel.cpp.

void humanoid_localization::MapModel::verifyPoses ( Particles particles  )  [virtual]

Check if particles represent valid poses: Must be within map bounding box and not in an occupied area. Otherwise weight is minimized (=> die out at next resampling)

Definition at line 52 of file MapModel.cpp.


Member Data Documentation

boost::shared_ptr<octomap::OcTree> humanoid_localization::MapModel::m_map [protected]

Definition at line 74 of file MapModel.h.

Definition at line 76 of file MapModel.h.

Definition at line 80 of file MapModel.h.

Definition at line 79 of file MapModel.h.

Definition at line 78 of file MapModel.h.

Definition at line 77 of file MapModel.h.


The documentation for this class was generated from the following files:
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humanoid_localization
Author(s): Armin Hornung, Stefan Osswald, Daniel Maier
autogenerated on Tue Mar 5 11:39:45 2013