Classes
struct	Cell
Typedefs
typedef int16_t	coord_t
typedef uint32_t	index_t
Functions
geometry_msgs::Point	cellCenter (const nav_msgs::MapMetaData &info, const Cell &c)
	Return center of a cell.
index_t	cellIndex (const nav_msgs::MapMetaData &info, const Cell &c)
	Returns the index of a cell.
gm::Polygon	cellPolygon (const nm::MapMetaData &info, const Cell &c)
geometry_msgs::Polygon	cellPolygon (const nav_msgs::MapMetaData &info, const Cell &c)
	Return polygon corresponding to a cell.
bool	cellsIntersect (const nm::MapMetaData &info1, const Cell &c1, const nm::MapMetaData &info2, const Cell &c2)
template<typename ForwardIt >
void	combineGrids (ForwardIt first, ForwardIt last, double resolution, nav_msgs::OccupancyGrid &result)
	Combines a set of grids.
template<typename ForwardIt >
void	combineGrids (ForwardIt first, ForwardIt last, nav_msgs::OccupancyGrid &result)
	Version of combineGrids that uses the resolution of the first grid.
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids, double resolution)
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids)
bool	containsVertex (const nm::MapMetaData &info, const Cell &c, const gm::Polygon &poly)
gm::Polygon	expandPolygon (const gm::Polygon &p, const double r)
template<typename ForwardIt >
nav_msgs::MapMetaData	getCombinedGridInfo (ForwardIt first, ForwardIt last, const double resolution)
gm::Polygon	gridPolygon (const nm::MapMetaData &info)
geometry_msgs::Polygon	gridPolygon (const nav_msgs::MapMetaData &info)
	Return polygon corresponding to grid bounds.
Cell	indexCell (const nav_msgs::MapMetaData &info, index_t ind)
	Returns cell corresponding to index.
std::set< Cell >	intersectingCells (const nav_msgs::MapMetaData &info, const nav_msgs::MapMetaData &info2, const Cell &cell2)
set< Cell >	intersectingCells (const nm::MapMetaData &info, const nm::MapMetaData &info2, const Cell &cell2)
tf::Transform	mapToWorld (const nav_msgs::MapMetaData &info)
std::ostream &	operator<< (std::ostream &str, const Cell &c)
Cell	point32Cell (const nm::MapMetaData &info, const gm::Point32 &p)
Cell	pointCell (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns cell corresponding to a point.
index_t	pointIndex (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns index of a point.
geometry_msgs::Pose	transformPose (const tf::Pose trans, const geometry_msgs::Pose p)
gm::Pose	transformPose (const tf::Pose trans, const gm::Pose p)
void	verifyDataSize (const nm::OccupancyGrid &g)
void	verifyDataSize (const nav_msgs::OccupancyGrid &g)
	Verify that data vector has the right size.
bool	withinBounds (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Check if a point is on the grid.
bool	withinBounds (const nav_msgs::MapMetaData &info, const Cell &c)
	Check if a cell is on the grid.
tf::Transform	worldToMap (const nav_msgs::MapMetaData &info)
Variables
const int8_t	OCCUPIED = 100
const int8_t	UNKNOWN = -1
const int8_t	UNOCCUPIED = 0

Typedef Documentation

typedef int16_t occupancy_grid_utils::coord_t

Definition at line 63 of file coordinate_conversions.h.

typedef uint32_t occupancy_grid_utils::index_t

Definition at line 62 of file coordinate_conversions.h.

Function Documentation

geometry_msgs::Point occupancy_grid_utils::cellCenter	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		`[inline]`

Return center of a cell.

Definition at line 170 of file coordinate_conversions.h.

index_t occupancy_grid_utils::cellIndex	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		`[inline]`

Returns the index of a cell.

Exceptions:

std::out_of_range if cell isn't within grid bounds

Definition at line 125 of file coordinate_conversions.h.

gm::Polygon occupancy_grid_utils::cellPolygon	(	const nm::MapMetaData &	info,
		const Cell &	c
	)

Definition at line 49 of file coordinate_conversions.cpp.

geometry_msgs::Polygon occupancy_grid_utils::cellPolygon	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)

Return polygon corresponding to a cell.

bool occupancy_grid_utils::cellsIntersect	(	const nm::MapMetaData &	info1,
		const Cell &	c1,
		const nm::MapMetaData &	info2,
		const Cell &	c2
	)		`[inline]`

Definition at line 81 of file combine_grids.cpp.

template<typename ForwardIt >

void occupancy_grid_utils::combineGrids	(	ForwardIt	first,
		ForwardIt	last,
		double	resolution,
		nav_msgs::OccupancyGrid &	result
	)

Combines a set of grids.

The resulting grid's origin will be a translated version of grid 1's origin, with resolution resolution.

All empty grids will be skipped.

The policy for combination is that for each cell, we look at each grid cell that intersects it and consider their values. Map these to integers, where everything above OCCUPIED (100) goes to -1. Then take the max. If there are no intersecting cells, value is -1.

Assumes all grids lie on the xy plane, and will fail in weird ways if that's not true

Definition at line 178 of file combine_grids.h.

template<typename ForwardIt >

void occupancy_grid_utils::combineGrids	(	ForwardIt	first,
		ForwardIt	last,
		nav_msgs::OccupancyGrid &	result
	)

Version of combineGrids that uses the resolution of the first grid.

Definition at line 220 of file combine_grids.h.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids	(	const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &	grids,
		double	resolution
	)

Version of combineGrids that uses shared_ptr

you should use combineGrids with raw pointers instead, which saves reference counting

Deprecated:

Definition at line 151 of file combine_grids.cpp.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids ( const std::vector< nav_msgs::OccupancyGrid::ConstPtr > & grids )

Version of combineGrids that uses shared_ptr

you should use combineGrids with raw pointers instead, which saves reference counting

Deprecated:

Definition at line 165 of file combine_grids.cpp.

bool occupancy_grid_utils::containsVertex	(	const nm::MapMetaData &	info,
		const Cell &	c,
		const gm::Polygon &	poly
	)		`[inline]`

Definition at line 71 of file combine_grids.cpp.

gm::Polygon occupancy_grid_utils::expandPolygon	(	const gm::Polygon &	p,
		const double	r
	)		`[inline]`

Definition at line 88 of file combine_grids.cpp.

template<typename ForwardIt >

nav_msgs::MapMetaData occupancy_grid_utils::getCombinedGridInfo	(	ForwardIt	first,
		ForwardIt	last,
		const double	resolution
	)

Definition at line 118 of file combine_grids.h.

gm::Polygon occupancy_grid_utils::gridPolygon ( const nm::MapMetaData & info )

Definition at line 68 of file coordinate_conversions.cpp.

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
	)		`[inline]`

Returns cell corresponding to index.

Definition at line 133 of file coordinate_conversions.h.

std::set<Cell> occupancy_grid_utils::intersectingCells	(	const nav_msgs::MapMetaData &	info,
		const nav_msgs::MapMetaData &	info2,
		const Cell &	cell2
	)

set<Cell> occupancy_grid_utils::intersectingCells	(	const nm::MapMetaData &	info,
		const nm::MapMetaData &	info2,
		const Cell &	cell2
	)

Definition at line 113 of file combine_grids.cpp.

tf::Transform occupancy_grid_utils::mapToWorld ( const nav_msgs::MapMetaData & info ) [inline]

Definition at line 141 of file coordinate_conversions.h.

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	str,
		const Cell &	c
	)		`[inline]`

Definition at line 192 of file coordinate_conversions.h.

Cell occupancy_grid_utils::point32Cell	(	const nm::MapMetaData &	info,
		const gm::Point32 &	p
	)		`[inline]`

Definition at line 61 of file combine_grids.cpp.

Cell occupancy_grid_utils::pointCell	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		`[inline]`

Returns cell corresponding to a point.

The z coordinate of the point is ignored.

Definition at line 155 of file coordinate_conversions.h.

index_t occupancy_grid_utils::pointIndex	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		`[inline]`

Returns index of a point.

Exceptions:

std::out_of_range if point isn't within grid bounds

Ignores z coordinate of point

Definition at line 164 of file coordinate_conversions.h.

geometry_msgs::Pose occupancy_grid_utils::transformPose	(	const tf::Pose	trans,
		const geometry_msgs::Pose	p
	)

gm::Pose occupancy_grid_utils::transformPose	(	const tf::Pose	trans,
		const gm::Pose	p
	)

Definition at line 140 of file combine_grids.cpp.

void occupancy_grid_utils::verifyDataSize ( const nm::OccupancyGrid & g )

Definition at line 87 of file coordinate_conversions.cpp.

void occupancy_grid_utils::verifyDataSize ( const nav_msgs::OccupancyGrid & g )

Verify that data vector has the right size.

Exceptions:

std::logic_error otherwise

bool occupancy_grid_utils::withinBounds	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		`[inline]`

Check if a point is on the grid.

Definition at line 199 of file coordinate_conversions.h.

bool occupancy_grid_utils::withinBounds	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		`[inline]`

Check if a cell is on the grid.

Definition at line 205 of file coordinate_conversions.h.

tf::Transform occupancy_grid_utils::worldToMap ( const nav_msgs::MapMetaData & info ) [inline]

Definition at line 149 of file coordinate_conversions.h.

Variable Documentation

const int8_t occupancy_grid_utils::OCCUPIED = 100

Definition at line 78 of file coordinate_conversions.h.

const int8_t occupancy_grid_utils::UNKNOWN = -1

Definition at line 79 of file coordinate_conversions.h.

const int8_t occupancy_grid_utils::UNOCCUPIED = 0

Definition at line 77 of file coordinate_conversions.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation