Classes | Typedefs | Functions
costmap_converter Namespace Reference

Classes

class  BaseCostmapToDynamicObstacles
class  BaseCostmapToPolygons
 This abstract class defines the interface for plugins that convert the costmap into polygon types. More...
class  CostmapToDynamicObstacles
 This class converts the costmap_2d into dynamic obstacles. More...
class  CostmapToLinesDBSMCCH
 This class converts the costmap_2d into a set of lines (and points) More...
class  CostmapToLinesDBSRANSAC
 This class converts the costmap_2d into a set of lines (and points) More...
class  CostmapToPolygonsDBSConcaveHull
 This class converts the costmap_2d into a set of non-convex polygons (and points) More...
class  CostmapToPolygonsDBSMCCH
 This class converts the costmap_2d into a set of convex polygons (and points) More...

Typedefs

typedef CostmapToLinesDBSMCCH CL
typedef boost::shared_ptr
< const ObstacleArrayMsg > 
ObstacleArrayConstPtr
 Typedef for a shared dynamic obstacle container (read-only access)
typedef boost::shared_ptr
< ObstacleArrayMsg > 
ObstacleArrayPtr
 Typedef for a shared dynamic obstacle container.
typedef boost::shared_ptr
< const std::vector
< geometry_msgs::Polygon > > 
PolygonContainerConstPtr
 Typedef for a shared polygon container (read-only access)
typedef boost::shared_ptr
< std::vector
< geometry_msgs::Polygon > > 
PolygonContainerPtr
 Typedef for a shared polygon container.

Functions

template<typename Point , typename LinePoint >
double computeDistanceToLine (const Point &point, const LinePoint &line_pt1, const LinePoint &line_pt2)
 Calculate the distance between a point and a straight line (with infinite length)
template<typename Point , typename LinePoint >
double computeDistanceToLineSegment (const Point &point, const LinePoint &line_start, const LinePoint &line_end, bool *is_inbetween=NULL)
 Calculate the distance between a point and a straight line segment.
template<typename Point1 , typename Point2 >
bool isApprox2d (const Point1 &pt1, const Point2 &pt2, double threshold)
 Check if two points are approximately defining the same one.
bool isXCoordinateSmaller (const CostmapToPolygonsDBSMCCH::KeyPoint &p1, const CostmapToPolygonsDBSMCCH::KeyPoint &p2)
template<typename Point1 , typename Point2 >
double norm2d (const Point1 &pt1, const Point2 &pt2)
 Calculate the distance between two 2d points.
bool sort_keypoint_x (const std::size_t &i, const std::size_t &j, const std::vector< CL::KeyPoint > &cluster)
bool sort_keypoint_y (const std::size_t &i, const std::size_t &j, const std::vector< CL::KeyPoint > &cluster)

Typedef Documentation

Definition at line 133 of file costmap_to_lines_convex_hull.cpp.

typedef boost::shared_ptr< const ObstacleArrayMsg > costmap_converter::ObstacleArrayConstPtr

Typedef for a shared dynamic obstacle container (read-only access)

Definition at line 57 of file costmap_converter_interface.h.

typedef boost::shared_ptr<ObstacleArrayMsg> costmap_converter::ObstacleArrayPtr

Typedef for a shared dynamic obstacle container.

Definition at line 55 of file costmap_converter_interface.h.

typedef boost::shared_ptr< const std::vector<geometry_msgs::Polygon> > costmap_converter::PolygonContainerConstPtr

Typedef for a shared polygon container (read-only access)

Definition at line 62 of file costmap_converter_interface.h.

typedef boost::shared_ptr< std::vector<geometry_msgs::Polygon> > costmap_converter::PolygonContainerPtr

Typedef for a shared polygon container.

Definition at line 60 of file costmap_converter_interface.h.


Function Documentation

template<typename Point , typename LinePoint >
double costmap_converter::computeDistanceToLine ( const Point point,
const LinePoint &  line_pt1,
const LinePoint &  line_pt2 
) [inline]

Calculate the distance between a point and a straight line (with infinite length)

Parameters:
pointgeneric 2D point type defining the reference point
line_pt1generic 2D point as part of the line
line_pt2generic 2D point as part of the line
Template Parameters:
Pointgeneric point type that should provide x and y member fiels.
LinePointgeneric point type that should provide x and y member fiels.
Returns:
(minimum) euclidean distance to the line segment

Definition at line 58 of file misc.h.

template<typename Point , typename LinePoint >
double costmap_converter::computeDistanceToLineSegment ( const Point point,
const LinePoint &  line_start,
const LinePoint &  line_end,
bool *  is_inbetween = NULL 
) [inline]

Calculate the distance between a point and a straight line segment.

Parameters:
pointgeneric 2D point type defining the reference point
line_startgeneric 2D point type defining the start of the line
line_endgeneric 2D point type defining the end of the line
[out]is_inbetweenwrite true, if the point is placed inbetween start and end [optional]
Template Parameters:
Pointgeneric point type that should provide x and y member fiels.
LinePointgeneric point type that should provide x and y member fiels.
Returns:
(minimum) euclidean distance to the line segment

Definition at line 83 of file misc.h.

template<typename Point1 , typename Point2 >
bool costmap_converter::isApprox2d ( const Point1 &  pt1,
const Point2 &  pt2,
double  threshold 
) [inline]

Check if two points are approximately defining the same one.

Parameters:
pt1generic 2D point
pt2generic 2D point
thresholddefine the minimum threshold |pt1.x-pt2.y| < tresh && |pt1.y-pt2.y| < tresh
Template Parameters:
Point1generic point type that should provide x and y member fiels.
Point2generic point type that should provide x and y member fiels.
Returns:
true, if similar, false otherwise

Definition at line 132 of file misc.h.

bool costmap_converter::isXCoordinateSmaller ( const CostmapToPolygonsDBSMCCH::KeyPoint &  p1,
const CostmapToPolygonsDBSMCCH::KeyPoint &  p2 
)

Definition at line 227 of file costmap_to_polygons.cpp.

template<typename Point1 , typename Point2 >
double costmap_converter::norm2d ( const Point1 &  pt1,
const Point2 &  pt2 
) [inline]

Calculate the distance between two 2d points.

Parameters:
pt1generic 2D point
pt2generic 2D point
Template Parameters:
Point1generic point type that should provide x and y member fiels.
Point2generic point type that should provide x and y member fiels.
Returns:
euclidean distance to the line segment

Definition at line 117 of file misc.h.

bool costmap_converter::sort_keypoint_x ( const std::size_t &  i,
const std::size_t &  j,
const std::vector< CL::KeyPoint > &  cluster 
)

Definition at line 134 of file costmap_to_lines_convex_hull.cpp.

bool costmap_converter::sort_keypoint_y ( const std::size_t &  i,
const std::size_t &  j,
const std::vector< CL::KeyPoint > &  cluster 
)

Definition at line 136 of file costmap_to_lines_convex_hull.cpp.



costmap_converter
Author(s): Christoph Rösmann , Franz Albers , Otniel Rinaldo
autogenerated on Sat Jun 8 2019 20:53:15