Classes
class	MapBuilder
Functions
double	angleFromQuaternion (const tf::Quaternion &q)
std::string	getWorldFrame (const tf::Transformer &tf_transformer, const std::string &child)
template<typename T >
void	moveAndCopyImage (int fill, int dx, int dy, unsigned int ncol, vector< T > &map)
template<typename T >
void	moveAndCopyImage (int fill, int dx, int dy, unsigned int ncol, std::vector< T > &map)
int	offsetFromRowColNoRangeCheck (int row, int col, size_t ncol)
Variables
const double	g_default_large_log_odds = 100
const double	g_default_max_log_odds_for_belief = 20
const double	g_default_p_occupied_when_laser = 0.9
const double	g_default_p_occupied_when_no_laser = 0.3

Detailed Description

Defines a class with a local occupancy grid

Function Documentation

double local_map::angleFromQuaternion ( const tf::Quaternion & q )

Return the angle from a quaternion representing a rotation around the z-axis

The quaternion in ROS is q = (x, y, z, w), so that q = (ux * sin(a/2), uy * sin(a/2), uz * sin(a/2), cos(a/2)), where a is the rotation angle and (ux, uy, uz) is the unit vector of the rotation axis. For a rotation around z, we have q = (cos(a/2), 0, 0, sin(a/2)). Thus a = 2 * atan2(z, w).

Definition at line 42 of file map_builder.cpp.

std::string local_map::getWorldFrame	(	const tf::Transformer &	tf_transformer,
		const std::string &	child
	)

Return the name of the tf frame that has no parent.

Definition at line 20 of file map_builder.cpp.

template<typename T >

void local_map::moveAndCopyImage	(	int	fill,
		int	dx,
		int	dy,
		unsigned int	ncol,
		vector< T > &	map
	)

In-place move an image represented as a 1D array

The origin of the image moves relativelty to a frame F. All pixels must be moved in the opposite direction, so that what is represented by the pixels is fixed in the frame F.

Parameters:

[in]	fill	Default fill value
[in]	dx	pixel displacement in x (rows)
[in]	dy	pixel displacement in y (columns)
[in]	ncol	number of column
[in,out]	map	image to be moved