#include <OccupancyGrid.h>

Inheritance diagram for karto::OccupancyGrid:

Public Member Functions
OccupancyGrid *	Clone () const
kt_bool	IsFree (const Vector2i &rGridIndex) const
	OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2d &rOffset, kt_double resolution)
kt_double	RayCast (const Pose2 &rPose2, kt_double maxRange) const
Static Public Member Functions
static OccupancyGrid *	CreateFromMapper (OpenMapper *pMapper, kt_double resolution)
static OccupancyGrid *	CreateFromScans (const LocalizedLaserScanList &rScans, kt_double resolution)
static KARTO_DEPRECATED OccupancyGrid *	CreateFromScans (const std::vector< SmartPointer< LocalizedRangeScan > > &rScans, kt_double resolution)
Protected Member Functions
kt_bool	AddScan (LocalizedLaserScan *pScan, kt_bool doUpdate=false)
virtual void	CreateFromScans (const LocalizedLaserScanList &rScans)
Grid< kt_int32u > *	GetCellHitsCounts ()
Grid< kt_int32u > *	GetCellPassCounts ()
kt_bool	RayTrace (const Vector2d &rWorldFrom, const Vector2d &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)
virtual void	Resize (kt_int32s width, kt_int32s height)
void	UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)
void	UpdateGrid ()
Static Protected Member Functions
static void	ComputeDimensions (const LocalizedLaserScanList &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2d &rOffset)
Protected Attributes
SmartPointer< Grid< kt_int32u > >	m_pCellHitsCnt
SmartPointer< Grid< kt_int32u > >	m_pCellPassCnt
Private Member Functions
	KARTO_RTTI ()
	OccupancyGrid (const OccupancyGrid &)
const OccupancyGrid &	operator= (const OccupancyGrid &)
Private Attributes
CellUpdater *	m_pCellUpdater
SmartPointer< Parameter < kt_int32u > >	m_pMinPassThrough
SmartPointer< Parameter < kt_double > >	m_pOccupancyThreshold
Friends
class	CellUpdater
class	IncrementalOccupancyGrid

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 56 of file OccupancyGrid.h.

Constructor & Destructor Documentation

karto::OccupancyGrid::OccupancyGrid	(	kt_int32s	width,
		kt_int32s	height,
		const Vector2d &	rOffset,
		kt_double	resolution
	)

Occupancy grid of given size

Parameters:

width	width
height	height
rOffset	offset
resolution	resolution

Definition at line 28 of file OccupancyGrid.cpp.

karto::OccupancyGrid::OccupancyGrid ( const OccupancyGrid & ) [private]

Member Function Documentation

kt_bool karto::OccupancyGrid::AddScan	(	LocalizedLaserScan *	pScan,
		kt_bool	doUpdate = `false`
	)		`[protected]`

Adds the scan's information to this grid's counters (optionally update the grid's cells' occupancy status)

Parameters:

pScan	laser scan
doUpdate	whether to update the grid's cell's occupancy status

Returns:: returns false if an endpoint fell off the grid, otherwise true

Definition at line 142 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::Clone ( ) const

Makes a clone

Returns:: occupancy grid clone

Definition at line 53 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::ComputeDimensions	(	const LocalizedLaserScanList &	rScans,
		kt_double	resolution,
		kt_int32s &	rWidth,
		kt_int32s &	rHeight,
		Vector2d &	rOffset
	)		`[static, protected]`

Calculates grid dimensions from localized laser scans and resolution

Parameters:

rScans	scans
resolution	resolution
rWidth	(output parameter) width
rHeight	(output parameter) height
rOffset	(output parameter) offset

Definition at line 105 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromMapper	(	OpenMapper *	pMapper,
		kt_double	resolution
	)		`[static]`

Occupancy grid from the scans in the given mapper using the given resolution

Note:: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters:

pMapper	mapper
resolution	resolution

Returns:: occupancy grid from the given scans using the given resolution

Definition at line 100 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromScans	(	const LocalizedLaserScanList &	rScans,
		kt_double	resolution
	)		`[static]`

Occupancy grid from the given scans using the given resolution

Note:: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters:

rScans	list of scans
resolution	resolution

Returns:: occupancy grid from the given scans using the given resolution

Definition at line 84 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromScans	(	const std::vector< SmartPointer< LocalizedRangeScan > > &	rScans,
		kt_double	resolution
	)		`[static]`

Occupancy grid from the given scans using the given resolution

Note:: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters:

rScans	scans
resolution	resolution

Deprecated:: Please use CreateFromScans(const LocalizedLaserScanList& rScans, kt_double resolution)

Warning:: Throws exception in Windows

Returns:: occupancy grid from the given scans using the given resolution

Definition at line 72 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::CreateFromScans ( const LocalizedLaserScanList & rScans ) [protected, virtual]

Creates grid using scans

Parameters:

rScans scans

Definition at line 126 of file OccupancyGrid.cpp.

Grid<kt_int32u>* karto::OccupancyGrid::GetCellHitsCounts ( ) [inline, protected]

Gets grid of cell hit counts

Returns:: grid of cell hit counts

Definition at line 144 of file OccupancyGrid.h.

Grid<kt_int32u>* karto::OccupancyGrid::GetCellPassCounts ( ) [inline, protected]

Get grid of cell pass counts

Returns:: grid of cell pass counts

Definition at line 153 of file OccupancyGrid.h.

kt_bool karto::OccupancyGrid::IsFree ( const Vector2i & rGridIndex ) const [inline]

Checks if the given grid index is free

Parameters:

rGridIndex grid index

Returns:: whether the cell at the given grid index is free space

Definition at line 124 of file OccupancyGrid.h.

karto::OccupancyGrid::KARTO_RTTI ( ) [private]

Reimplemented from karto::Grid< kt_int8u >.

const OccupancyGrid& karto::OccupancyGrid::operator= ( const OccupancyGrid & ) [private]

kt_double karto::OccupancyGrid::RayCast	(	const Pose2 &	rPose2,
		kt_double	maxRange
	)		const

Casts a ray from the given point (up to the given max range) and returns the distance to the closest obstacle

Parameters:

rPose2	starting point
maxRange	maximum range

Returns:: distance to closest obstacle

Definition at line 186 of file OccupancyGrid.cpp.

kt_bool karto::OccupancyGrid::RayTrace	(	const Vector2d &	rWorldFrom,
		const Vector2d &	rWorldTo,
		kt_bool	isEndPointValid,
		kt_bool	doUpdate = `false`
	)		`[protected]`

Traces a beam from the start position to the end position marking the bookkeeping arrays accordingly.

Parameters:

rWorldFrom	start position of beam
rWorldTo	end position of beam
isEndPointValid	is the reading within the range threshold?
doUpdate	whether to update the cells' occupancy status immediately

Returns:: returns false if an endpoint fell off the grid, otherwise true

Definition at line 226 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::Resize	(	kt_int32s	width,
		kt_int32s	height
	)		`[protected, virtual]`

Resizes the grid (deletes all old data)

Parameters:

width	new width
height	new height

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 296 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateCell	(	kt_int8u *	pCell,
		kt_int32u	cellPassCnt,
		kt_int32u	cellHitCnt
	)		`[protected]`

Updates a single cell's value based on the given counters

Parameters:

pCell	cell
cellPassCnt	cell pass count
cellHitCnt	cell hit count

Definition at line 260 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateGrid ( ) [protected]

Updates the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt

Definition at line 277 of file OccupancyGrid.cpp.

Friends And Related Function Documentation

friend class CellUpdater [friend]

Definition at line 61 of file OccupancyGrid.h.

friend class IncrementalOccupancyGrid [friend]

Definition at line 62 of file OccupancyGrid.h.

Member Data Documentation

SmartPointer< Grid<kt_int32u> > karto::OccupancyGrid::m_pCellHitsCnt [protected]

Counters of number of times a beam ended at a cell

Definition at line 223 of file OccupancyGrid.h.

SmartPointer< Grid<kt_int32u> > karto::OccupancyGrid::m_pCellPassCnt [protected]

Counters of number of times a beam passed through a cell

Definition at line 218 of file OccupancyGrid.h.

CellUpdater* karto::OccupancyGrid::m_pCellUpdater [private]

Definition at line 226 of file OccupancyGrid.h.

SmartPointer<Parameter<kt_int32u> > karto::OccupancyGrid::m_pMinPassThrough [private]

Definition at line 234 of file OccupancyGrid.h.

SmartPointer<Parameter<kt_double> > karto::OccupancyGrid::m_pOccupancyThreshold [private]

Definition at line 237 of file OccupancyGrid.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation