Classes | Functions | Variables
hrl_tilting_hokuyo::occupancy_grid_3d Namespace Reference

Classes

class  occupancy_grid_3d
 class which implements the occupancy grid More...

Functions

def subtract
 subtract occupancy grids.

Variables

tuple cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist())
 print grid_pts
tuple dict = ut.load_pickle(pkl_file_name)
tuple gr
tuple grid_pts = gr.grid_to_centroids()
string help = 'file.pkl File with the scan,pos dict.'
list l1 = dict['l1']
list l2 = dict['l2']
tuple lc = pu.LineCloud(gr.grid_lines(),(100,100,0))
tuple max_angle = math.radians(40)
tuple min_angle = math.radians(-40)
tuple p = optparse.OptionParser()
tuple pc = pu.PointCloud(pts,(100,100,100))
 pkl_file_name = opt.pkl_file_name
list pos_list = dict['pos_list']
tuple pts = ut.load_pickle(pts_pkl)
 pts_pkl = opt.pts_pkl
tuple resolution = np.matrix([0.01,0.01,0.01])
 print gr.grid
list scan_list = dict['scan_list']
tuple t0 = time.time()
tuple t1 = time.time()

Function Documentation

subtract occupancy grids.

og1 = og1-og2

Parameters:
og1- occupancy_grid_3d object.
og2- occupancy_grid_3d object.

will position og2 at an appropriate location within og1 (hopefully) will copy points in og2 but not in og1 into og1

points corresponding to the gird cells whose occupancy drops to zero will still be in grid_points_list UNTESTED: * subtracting grids of different sizes. * how the rotation_z of the occupancy grid will affect things.

Definition at line 53 of file occupancy_grid_3d.py.


Variable Documentation

tuple hrl_tilting_hokuyo::occupancy_grid_3d::cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist())

print grid_pts

Definition at line 606 of file occupancy_grid_3d.py.

Definition at line 581 of file occupancy_grid_3d.py.

Initial value:
00001 occupancy_grid_3d(np.matrix([0.45,-0.5,-1.0]).T, np.matrix([0.65,0.05,-0.2]).T,
00002                            resolution)

Definition at line 574 of file occupancy_grid_3d.py.

tuple hrl_tilting_hokuyo::occupancy_grid_3d::grid_pts = gr.grid_to_centroids()

Definition at line 604 of file occupancy_grid_3d.py.

Definition at line 557 of file occupancy_grid_3d.py.

Definition at line 587 of file occupancy_grid_3d.py.

Definition at line 588 of file occupancy_grid_3d.py.

tuple hrl_tilting_hokuyo::occupancy_grid_3d::lc = pu.LineCloud(gr.grid_lines(),(100,100,0))

Definition at line 608 of file occupancy_grid_3d.py.

Definition at line 585 of file occupancy_grid_3d.py.

Definition at line 584 of file occupancy_grid_3d.py.

tuple hrl_tilting_hokuyo::occupancy_grid_3d::p = optparse.OptionParser()

Definition at line 554 of file occupancy_grid_3d.py.

Definition at line 607 of file occupancy_grid_3d.py.

Definition at line 563 of file occupancy_grid_3d.py.

Definition at line 582 of file occupancy_grid_3d.py.

Definition at line 578 of file occupancy_grid_3d.py.

Definition at line 562 of file occupancy_grid_3d.py.

tuple hrl_tilting_hokuyo::occupancy_grid_3d::resolution = np.matrix([0.01,0.01,0.01])

print gr.grid

Definition at line 573 of file occupancy_grid_3d.py.

Definition at line 583 of file occupancy_grid_3d.py.

Definition at line 598 of file occupancy_grid_3d.py.

Definition at line 600 of file occupancy_grid_3d.py.



hrl_tilting_hokuyo
Author(s): Advait Jain, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:56:18