Class OccupancyGrid

Defined in File occupancy_grid.hpp

Nested Relationships

Nested Types

Struct OccupancyGrid::ValueTraits

Inheritance Relationships

Base Type

public beluga::BaseOccupancyGrid2< OccupancyGrid >

Class Documentation

class OccupancyGrid : public beluga::BaseOccupancyGrid2<OccupancyGrid>

Thin wrapper type for 2D nav_msgs/OccupancyGrid messages.

Public Functions

inline explicit OccupancyGrid(beluga_ros::msg::OccupancyGridConstSharedPtr grid)

Constructor.

Parameters:: grid – Occupancy grid message.

inline const Sophus::SE2d &origin() const: Get the occupancy grid origin in the occupancy grid frame.

inline std::size_t size() const: Get the size of the occupancy grid (width() times height()).

inline const auto &data() const: Get a reference to the underlying data storeage (ie. a row-major array).

inline std::size_t width() const: Get the width of the occupancy grid.

inline std::size_t height() const: Get the height of the occupancy grid.

inline double resolution() const: Get the resolution of the occupancy grid discretization, in meters.

Public Static Functions

static inline auto value_traits(): Get the traits for occupancy grid value interpretation.

struct ValueTraits

Traits for occupancy grid value interpretation.

Assumes a standard ROS trinary interpretation.

Public Static Functions

static inline bool is_free(std::int8_t value): Check if the given value corresponds to that of a free cell.

static inline bool is_unknown(std::int8_t value): Check if the given value corresponds to that of a cell of unknown occupancy.

static inline bool is_occupied(std::int8_t value): Check if the given value corresponds to that of an occupied cell.

Public Static Attributes

static constexpr std::int8_t kFreeValue = 0: Free value in the standard ROS trinary interpretation.

static constexpr std::int8_t kUnknownValue = -1: Unknown value in the standard ROS trinary interpretation.

static constexpr std::int8_t kOccupiedValue = 100: Occupied value in the standard ROS trinary interpretation.