#include <occupancy_grid.h>

Public Member Functions
void	addPointsUnstamped (const hrl_msgs::FloatArrayBare pts_fab)
	add list of points (in a ROS FloatArrayBare structure) to the occupancy grid. Not worrying about timestamps for now. length of pts_fab is 3N for N points.
void	addPointsUnstamped (const std::vector< double > pts_vec)
	add list of points (in a std vector of doubles) to the occupancy grid. Not worrying about timestamps for now. length of pts_vec is 3N for N points.
uint32_t *	getOccupancyCountArray ()
unsigned int	nX ()
unsigned int	nY ()
unsigned int	nZ ()
	OccupancyGrid (float center_x, float center_y, float center_z, float size_x, float size_y, float size_z, float res_x, float res_y, float res_z)
	Constructor for a voxel grid.
void	publishMarkerArray_simple ()
	cube markers for cells that have occupancy count >=1
	~OccupancyGrid ()
Private Member Functions
bool	addPointsUnstamped_srv (hrl_srvs::FloatArray_None::Request &req, hrl_srvs::FloatArray_None::Response &res)
void	publishMarkerArray_simple_cb (const std_msgs::Empty::ConstPtr &msg)
Private Attributes
float	center_x_
float	center_y_
float	center_z_
ros::Publisher	marker_pub_
ros::NodeHandle	nh_
unsigned int	nx_
unsigned int	ny_
unsigned int	nz_
uint32_t *	occupancy_count_array_
float	res_x_
float	res_y_
float	res_z_
float	size_x_
float	size_y_
float	size_z_
ros::ServiceServer	srv_add_points_unstamped_
ros::Subscriber	sub_cmd_viz_simple_

Detailed Description

Definition at line 24 of file occupancy_grid.h.

Constructor & Destructor Documentation

OccupancyGrid::OccupancyGrid	(	float	center_x,
		float	center_y,
		float	center_z,
		float	size_x,
		float	size_y,
		float	size_z,
		float	res_x,
		float	res_y,
		float	res_z
	)

Constructor for a voxel grid.

Parameters:

center_{x,y,z}	coordinates of the center of the grid
size_{x,y,z}	size of VOI (in meters)
res_{x,y,z}	resolution along the three directions

Definition at line 16 of file occupancy_grid.cpp.

OccupancyGrid::~OccupancyGrid ( )

Definition at line 144 of file occupancy_grid.cpp.

Member Function Documentation

void OccupancyGrid::addPointsUnstamped ( const hrl_msgs::FloatArrayBare pts_fab )

add list of points (in a ROS FloatArrayBare structure) to the occupancy grid. Not worrying about timestamps for now. length of pts_fab is 3N for N points.

Definition at line 55 of file occupancy_grid.cpp.

void OccupancyGrid::addPointsUnstamped ( const std::vector< double > pts_vec )

add list of points (in a std vector of doubles) to the occupancy grid. Not worrying about timestamps for now. length of pts_vec is 3N for N points.

Definition at line 60 of file occupancy_grid.cpp.