Inheritance diagram for MapAccessibilityAnalysis:

Public Member Functions
void	checkPerimeter (std::vector< Pose > &accessible_poses_on_perimeter, const Pose &center, const double radius, const double rotational_sampling_step, const cv::Mat &inflated_map, const bool approach_path_accessibility_check, const cv::Point &robot_location)

void	checkPoses (const std::vector< cv::Point > &points_to_check, std::vector< bool > &accessibility_flags, const cv::Mat &inflated_map, const bool approach_path_accessibility_check, const cv::Point &robot_location)

template<class T >
T	convertFromMeterToPixelCoordinates (const Pose &pose, const cv::Point2d &map_origin, const double inverse_map_resolution)

template<class T >
T	convertFromPixelCoordinatesToMeter (const Pose &pose, const cv::Point2d &map_origin, const double map_resolution)

void	inflateMap (const cv::Mat &original_map, cv::Mat &inflated_map, const int robot_radius_pixel)

	MapAccessibilityAnalysis ()

	~MapAccessibilityAnalysis ()

Protected Member Functions
void	computeClosestPointOnPolygon (const cv::Mat &map_with_polygon, const Pose &pose_p, Pose &closest_point_on_polygon)

bool	isApproachPositionAccessible (const cv::Point &robotLocation, const cv::Point &potentialApproachPose, std::vector< std::vector< cv::Point > > contours)

Detailed Description

Constructor & Destructor Documentation

MapAccessibilityAnalysis::MapAccessibilityAnalysis ( )

MapAccessibilityAnalysis::~MapAccessibilityAnalysis ( )

void MapAccessibilityAnalysis::checkPerimeter	(	std::vector< Pose > &	accessible_poses_on_perimeter,
		const Pose &	center,
		const double	radius,
		const double	rotational_sampling_step,
		const cv::Mat &	inflated_map,
		const bool	approach_path_accessibility_check,
		const cv::Point &	robot_location
	)

This function checks the accessibility of points on a perimeter around a center point.

Parameters

accessible_poses_on_radius	The returned set of accessible poses on the perimeter of the given circle, in map coordinates [px,px,rad]
center	Center of the circle whose perimeter should be checked for accessibility, in map coordinates [px,px,rad]
radius	Radius of the circle whose perimeter should be checked for accessibility, in [px]
rotational_sampling_step	Rotational sampling step width for checking points on the perimeter, in [rad]
inflated_map	The map that is to be tested with walls and obstacles inflated by the robot radius
approach_path_accessibility_check	If true, there must be a path from robot_location to a goal position in order to report accessibility
robot_location	[Optional] The current robot position in the map if approach_path_accessibility_check=true, in map coordinates [px]

void MapAccessibilityAnalysis::checkPoses	(	const std::vector< cv::Point > &	points_to_check,
		std::vector< bool > &	accessibility_flags,
		const cv::Mat &	inflated_map,
		const bool	approach_path_accessibility_check,
		const cv::Point &	robot_location
	)

This function checks a vector of map positions for their accessibility.

Parameters

points_to_check	All the map positions whose accessibility shall be tested, in map coordinates [px]
accessibility_flags	Response to each map position whether it is accessible (true) or not (false)
inflated_map	The map that is to be tested with walls and obstacles inflated by the robot radius
approach_path_accessibility_check	If true, there must be a path from robot_location to a goal position in order to report accessibility
robot_location	[Optional] The current robot position in the map if approach_path_accessibility_check=true, in map coordinates [px]

void MapAccessibilityAnalysis::computeClosestPointOnPolygon	(	const cv::Mat &	map_with_polygon,
		const Pose &	pose_p,
		Pose &	closest_point_on_polygon
	)

protected

template<class T >

T MapAccessibilityAnalysis::convertFromMeterToPixelCoordinates	(	const Pose &	pose,
		const cv::Point2d &	map_origin,
		const double	inverse_map_resolution
	)

inline

template<class T >

T MapAccessibilityAnalysis::convertFromPixelCoordinatesToMeter	(	const Pose &	pose,
		const cv::Point2d &	map_origin,
		const double	map_resolution
	)

inline

void MapAccessibilityAnalysis::inflateMap	(	const cv::Mat &	original_map,
		cv::Mat &	inflated_map,
		const int	robot_radius_pixel
	)

Inflates the walls and obstacles in a map by the radius of the robot, resulting in a map of accessible areas for the robot.

Parameters

robot_radius_pixel Provides the robot radius converted to pixels in the given maps, in [px]

bool MapAccessibilityAnalysis::isApproachPositionAccessible	(	const cv::Point &	robotLocation,
		const cv::Point &	potentialApproachPose,
		std::vector< std::vector< cv::Point > >	contours
	)

protected

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