Template Class GridMap

Defined in File grid_map.hpp

Inheritance Relationships

Base Type

public tuw::WorldScopedMaps (Class WorldScopedMaps)

Class Documentation

template<class T> class GridMap : public tuw::WorldScopedMaps 

Public Functions

inline GridMap()

virtual ~GridMap() = default

GridMap(const GridMap&) = default

GridMap &operator=(const GridMap&) = default

GridMap(GridMap&&) = default

GridMap &operator=(GridMap&&) = default

template<typename MapMetaData, class ARRAY> inline void init(const MapMetaData &metadata, ARRAY *data)

template<typename MapMetaData, class ARRAY> inline void init(MapMetaData &metadata, ARRAY &data)

template<typename MapMetaData> inline void init(const MapMetaData &metadata, const T &data, bool copy = false)

inline void circle(const Point2D &p, double radius, int8_t value, int thickness = 1, int lineType = cv::LINE_AA)

draws a circle given in the visualization space (meter, ….) into a pixel map

See also

opencv. Negative thickness means that a filled circle is to be drawn.

See also

opencv

Parameters:

map – opencv matrix
p – location [m]
radius – radius [m].
value –
thickness – line thickness –>
lineType – line type –>

inline void erode(double distance, const GridMap &src = GridMap())

inline T &operator()(double x, double y)

inline const T &operator()(double x, double y) const

inline T &operator()(const Point2D &_world_coordinates)

inline const T &operator()(const Point2D &_world_coordinates) const

inline T &get(const Point2D &_world_coordinates)

inline const T &get(const Point2D &_world_coordinates) const

inline bool isOccupyied(const Point2D &_world_coordinates) const

inline bool isFree(const Point2D &_world_coordinates) const

inline const cv::Mat_<T> &mat() const

inline void setThresholdOccupied(const T &threshold)

inline const T &getThresholdOccupied()

inline void setThresholdFree(const T &threshold)

inline const T &getThresholdFree()

inline void setThresholdUnknown(const T &threshold)

inline const T &getThresholdUnknown()

inline int rows() const

inline int cols() const

inline T &grid(int row, int col)

inline const T &grid(int row, int col) const

Public Static Attributes

static const int8_t SPACE_NA = -1

static const int8_t SPACE_FREE = 0

static const int8_t SPACE_OCCUPIED = 100