Public Member Functions
nav_msgs::OccupancyGrid	getMap () const
void	grow (const sensor_msgs::LaserScan &scan)
	MapBuilder (int width, int height, double resolution)
bool	saveMap (const std::string &name) const
	Save the map on disk.
Private Member Functions
bool	getRayCastToObstacle (const nav_msgs::OccupancyGrid &map, double angle, double range, vector< size_t > &raycast)
bool	updateMap (const sensor_msgs::LaserScan &scan, long int dx, long int dy, double theta)
void	updatePointOccupancy (bool occupied, size_t idx, vector< int8_t > &occupancy, vector< double > &log_odds) const
void	updatePointsOccupancy (bool occupied, const vector< size_t > &indexes, vector< int8_t > &occupancy, vector< double > &log_odds)
Private Attributes
double	angle_resolution_
bool	has_frame_id_
	true if map frame_id was already set
double	large_log_odds_
long int	last_xmap_
	Map integer x position at last map move.
long int	last_ymap_
	Map integer y position at last map move.
std::vector< double >	log_odds_
nav_msgs::OccupancyGrid	map_
	local map with fixed orientation
std::string	map_frame_id_
	map frame id in tf
double	max_log_odds_for_belief_
double	p_occupied_when_laser_
double	p_occupied_when_no_laser_
map_ray_caster::MapRayCaster	ray_caster_
	Ray casting with cache.
tf::TransformListener	tf_listerner_
tf::TransformBroadcaster	tr_broadcaster_
	To broadcast the transform from LaserScan to local map.
std::string	world_frame_id_
	frame_id of the world frame
double	xinit_
	Map x position at initialization.
double	yinit_
	Map y position at initialization.

Detailed Description

Definition at line 26 of file map_builder.h.

Constructor & Destructor Documentation

local_map::MapBuilder::MapBuilder	(	int	width,
		int	height,
		double	resolution
	)

Definition at line 116 of file map_builder.cpp.

nav_msgs::OccupancyGrid local_map::MapBuilder::getMap ( ) const [inline]

Definition at line 36 of file map_builder.h.

bool local_map::MapBuilder::getRayCastToObstacle	(	const nav_msgs::OccupancyGrid &	map,
		double	angle,
		double	range,
		vector< size_t > &	raycast
	)		`[private]`

Return the pixel list by ray casting from map origin to map border, first obstacle.

Return the pixel list by ray casting from map origin to map border or first obstacle, whichever comes first.

Parameters:

[in]	map	occupancy grid
[in]	angle	laser beam angle
[in]	range	laser beam range
[out]	raycast	list of pixel indexes touched by the laser beam

Returns:: true if the last point of the pixel list is an obstacle (end of laser beam).

Definition at line 379 of file map_builder.cpp.

void local_map::MapBuilder::grow ( const sensor_msgs::LaserScan & scan )

Callback for the LaserScan subscriber.

Update (geometrical transformation + probability update) the map with the current scan

Definition at line 247 of file map_builder.cpp.

bool local_map::MapBuilder::saveMap ( const std::string & name ) const

Save the map on disk.

Definition at line 413 of file map_builder.cpp.

bool local_map::MapBuilder::updateMap	(	const sensor_msgs::LaserScan &	scan,
		long int	dx,
		long int	dy,
		double	theta
	)		`[private]`

Definition at line 335 of file map_builder.cpp.

void local_map::MapBuilder::updatePointOccupancy	(	bool	occupied,
		size_t	idx,
		vector< int8_t > &	occupancy,
		vector< double > &	log_odds
	)		const `[private]`

Update occupancy and log odds for a point

Parameters:

[in]	occupied	true if the point was measured as occupied
[in]	idx	pixel index
[in]	ncol	map width
[in,out]	occupancy	occupancy map to update
[in,out]	log_odds	log odds to update

Definition at line 192 of file map_builder.cpp.

void local_map::MapBuilder::updatePointsOccupancy	(	bool	occupied,
		const vector< size_t > &	indexes,
		vector< int8_t > &	occupancy,
		vector< double > &	log_odds
	)		`[inline, private]`