#include <MapModel.h>

Inheritance diagram for humanoid_localization::MapModel:

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, double z, double roll, double pitch, const Vector6d &initNoise, UniformGeneratorT &rngUniform, NormalGeneratorT &rngNormal)
virtual bool	isOccupied (const octomap::point3d &position) const
virtual bool	isOccupied (octomap::OcTreeNode *node) const =0
	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]

Implemented in humanoid_localization::OccupancyMap, and humanoid_localization::DistanceMap.

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,
		double	z,
		double	roll,
		double	pitch,
		const Vector6d &	initNoise,
		UniformGeneratorT &	rngUniform,
		NormalGeneratorT &	rngNormal
	)		`[virtual]`

Definition at line 133 of file MapModel.cpp.

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 195 of file MapModel.cpp.

virtual bool humanoid_localization::MapModel::isOccupied ( octomap::OcTreeNode * node ) const [pure virtual]

Implemented in humanoid_localization::OccupancyMap, and humanoid_localization::DistanceMap.

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.