ray_tracer.cpp File Reference

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

Include dependency graph for ray_tracer.cpp:

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Namespaces
namespace	occupancy_grid_utils
Functions
bool	occupancy_grid_utils::cellWithinBounds (const nm::MapMetaData &info, const Cell &c)
gm::Point	occupancy_grid_utils::rayEndPoint (const gm::Point &p0, const double theta, const double d)
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).
RayTraceIterRange	occupancy_grid_utils::rayTrace (const Cell &c1, const Cell &c2)
optional< Cell >	occupancy_grid_utils::rayTraceOntoGrid (const nm::MapMetaData &info, const Cell &c1, const Cell &c2)
sensor_msgs::LaserScan::Ptr	occupancy_grid_utils::simulateRangeScan (const nav_msgs::OccupancyGrid &grid, const geometry_msgs::Pose &sensor_pose, const sensor_msgs::LaserScan &scanner_info, bool unknown_cells_are_obstacles=false)
	Simulate a planar laser range scan.