Class Grid2D

• Defined in File grid_2d.h

Inheritance Relationships

Base Type

• public cartographer::mapping::GridInterface (Class GridInterface)

Derived Types

• public cartographer::mapping::ProbabilityGrid (Class ProbabilityGrid)

• public cartographer::mapping::TSDF2D (Class TSDF2D)

Class Documentation

class Grid2D : public cartographer::mapping::GridInterface

Subclassed by cartographer::mapping::ProbabilityGrid, cartographer::mapping::TSDF2D

Public Functions

Grid2D(const MapLimits &limits, float min_correspondence_cost, float max_correspondence_cost, ValueConversionTables *conversion_tables)

explicit Grid2D(const proto::Grid2D &proto, ValueConversionTables *conversion_tables)

inline const MapLimits &limits() const

void FinishUpdate()

inline float GetCorrespondenceCost(const Eigen::Array2i &cell_index) const

virtual GridType GetGridType() const = 0

inline float GetMinCorrespondenceCost() const

inline float GetMaxCorrespondenceCost() const

inline bool IsKnown(const Eigen::Array2i &cell_index) const

void ComputeCroppedLimits(Eigen::Array2i *const offset, CellLimits *const limits) const

virtual void GrowLimits(const Eigen::Vector2f &point)

virtual std::unique_ptr<Grid2D> ComputeCroppedGrid() const = 0

virtual proto::Grid2D ToProto() const

virtual bool DrawToSubmapTexture(proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const = 0

Protected Functions

void GrowLimits(const Eigen::Vector2f &point, const std::vector<std::vector<uint16>*> &grids, const std::vector<uint16> &grids_unknown_cell_values)

inline const std::vector<uint16> &correspondence_cost_cells() const

inline const std::vector<int> &update_indices() const

inline const Eigen::AlignedBox2i &known_cells_box() const

inline std::vector<uint16> *mutable_correspondence_cost_cells()

inline std::vector<int> *mutable_update_indices()

inline Eigen::AlignedBox2i *mutable_known_cells_box()

inline int ToFlatIndex(const Eigen::Array2i &cell_index) const