ray_tracer.h File Reference

#include <occupancy_grid_utils/impl/ray_trace_iterator.h>
#include <occupancy_grid_utils/LocalizedCloud.h>
#include <occupancy_grid_utils/OverlayClouds.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/optional.hpp>
#include <string>

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Namespaces
namespace	occupancy_grid_utils
Typedefs
typedef std::pair < RayTraceIterator, RayTraceIterator >	occupancy_grid_utils::RayTraceIterRange
Functions
void	occupancy_grid_utils::addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Raytrace a cloud onto grid in overlay.
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.
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)
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).
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)
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.
Variables
const double	occupancy_grid_utils::DEFAULT_MAX_DISTANCE = 10.0
	Default max_distance for OverlayClouds.
const double	occupancy_grid_utils::DEFAULT_MIN_PASS_THROUGH = 2
	Default min_pass_through for OverlayClouds.
const double	occupancy_grid_utils::DEFAULT_OCCUPANCY_THRESHOLD = 0.1
	Default occupancy threshold for OverlayClouds.