coordinate_conversions.h File Reference

#include <stdexcept>
#include <cstdlib>
#include <cmath>
#include <ros/assert.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Polygon.h>

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Classes
struct	occupancy_grid_utils::Cell
Namespaces
namespace	occupancy_grid_utils
Typedefs
typedef int16_t	occupancy_grid_utils::coord_t
typedef uint32_t	occupancy_grid_utils::index_t
Functions
geometry_msgs::Point	occupancy_grid_utils::cellCenter (const nav_msgs::MapMetaData &info, const Cell &c)
	Return center of a cell.
index_t	occupancy_grid_utils::cellIndex (const nav_msgs::MapMetaData &info, const Cell &c)
	Returns the index of a cell.
geometry_msgs::Polygon	occupancy_grid_utils::cellPolygon (const nav_msgs::MapMetaData &info, const Cell &c)
	Return polygon corresponding to a cell.
geometry_msgs::Polygon	occupancy_grid_utils::gridPolygon (const nav_msgs::MapMetaData &info)
	Return polygon corresponding to grid bounds.
Cell	occupancy_grid_utils::indexCell (const nav_msgs::MapMetaData &info, index_t ind)
	Returns cell corresponding to index.
tf::Transform	occupancy_grid_utils::mapToWorld (const nav_msgs::MapMetaData &info)
std::ostream &	occupancy_grid_utils::operator<< (std::ostream &str, const Cell &c)
Cell	occupancy_grid_utils::pointCell (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns cell corresponding to a point.
index_t	occupancy_grid_utils::pointIndex (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns index of a point.
void	occupancy_grid_utils::verifyDataSize (const nav_msgs::OccupancyGrid &g)
	Verify that data vector has the right size.
bool	occupancy_grid_utils::withinBounds (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Check if a point is on the grid.
bool	occupancy_grid_utils::withinBounds (const nav_msgs::MapMetaData &info, const Cell &c)
	Check if a cell is on the grid.
tf::Transform	occupancy_grid_utils::worldToMap (const nav_msgs::MapMetaData &info)
Variables
const int8_t	occupancy_grid_utils::OCCUPIED = 100
const int8_t	occupancy_grid_utils::UNKNOWN = -1
const int8_t	occupancy_grid_utils::UNOCCUPIED = 0

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Detailed Description

General utilities for coordinate conversions

Author:

Bhaskara Marthi

Jiri Horner

Definition in file coordinate_conversions.h.