#include <GridMapBase.h>

Inheritance diagram for hectorslam::GridMapBase< ConcreteCellType >:

Public Member Functions
void	allocateArray (const Eigen::Vector2i &newMapDims)

void	clear ()

void	deleteArray ()

ConcreteCellType &	getCell (int x, int y)

const ConcreteCellType &	getCell (int x, int y) const

ConcreteCellType &	getCell (int index)

const ConcreteCellType &	getCell (int index) const

float	getCellLength () const

Eigen::Vector2f	getMapCoords (const Eigen::Vector2f &worldCoords) const

Eigen::Vector3f	getMapCoordsPose (const Eigen::Vector3f &worldPose) const

const Eigen::Vector2i &	getMapDimensions () const

const MapDimensionProperties &	getMapDimProperties () const

bool	getMapExtends (int &xMax, int &yMax, int &xMin, int &yMin) const

const Eigen::Affine2f &	getMapTworld () const

float	getScaleToMap () const

int	getSizeX () const

int	getSizeY () const

int	getUpdateIndex () const

Eigen::Vector2f	getWorldCoords (const Eigen::Vector2f &mapCoords) const

Eigen::Vector3f	getWorldCoordsPose (const Eigen::Vector3f &mapPose) const

const Eigen::Affine2f &	getWorldTmap () const

const Eigen::Affine3f &	getWorldTmap3D () const

	GridMapBase (float mapResolution, const Eigen::Vector2i &size, const Eigen::Vector2f &offset)

	GridMapBase (const GridMapBase &other)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	hasGridValue (int x, int y) const

GridMapBase &	operator= (const GridMapBase &other)

bool	pointOutOfMapBounds (const Eigen::Vector2f &pointMapCoords) const

virtual void	reset ()

void	setDimensionProperties (const Eigen::Vector2f &topLeftOffsetIn, const Eigen::Vector2i &mapDimensionsIn, float cellLengthIn)

void	setDimensionProperties (const MapDimensionProperties &newMapDimProps)

void	setMapGridSize (const Eigen::Vector2i &newMapDims)

void	setMapTransformation (const Eigen::Vector2f &topLeftOffset, float cellLength)

void	setUpdated ()

virtual	~GridMapBase ()

Protected Attributes
ConcreteCellType *	mapArray
	Map representation used with plain pointer array. More...

MapDimensionProperties	mapDimensionProperties

Eigen::Affine2f	mapTworld
	Homogenous 2D transform from world to map coordinates. More...

float	scaleToMap
	Scaling factor from world to map. More...

int	sizeX

Eigen::Affine2f	worldTmap
	Homogenous 2D transform from map to world coordinates. More...

Eigen::Affine3f	worldTmap3D
	Homogenous 3D transform from map to world coordinates. More...

Private Attributes
int	lastUpdateIndex

Detailed Description

template<typename ConcreteCellType>
class hectorslam::GridMapBase< ConcreteCellType >

GridMapBase provides basic grid map functionality (creates grid , provides transformation from/to world coordinates). It serves as the base class for different map representations that may extend it's functionality.

Definition at line 44 of file GridMapBase.h.

Constructor & Destructor Documentation

template<typename ConcreteCellType >

hectorslam::GridMapBase< ConcreteCellType >::GridMapBase	(	float	mapResolution,
		const Eigen::Vector2i &	size,
		const Eigen::Vector2f &	offset
	)

inline

Constructor, creates grid representation and transformations.

Definition at line 95 of file GridMapBase.h.

template<typename ConcreteCellType >

virtual hectorslam::GridMapBase< ConcreteCellType >::~GridMapBase ( )

inlinevirtual

Destructor

Definition at line 112 of file GridMapBase.h.

template<typename ConcreteCellType >

hectorslam::GridMapBase< ConcreteCellType >::GridMapBase ( const GridMapBase< ConcreteCellType > & other )

inline

Copy Constructor, only needed if pointer members are present.

Definition at line 173 of file GridMapBase.h.

Member Function Documentation

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::allocateArray ( const Eigen::Vector2i & newMapDims )

inline

Allocates memory for the two dimensional pointer array for map representation.

Definition at line 120 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::clear ( )

inline

Resets the grid cell values by using the resetGridCell() function.

Definition at line 77 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::deleteArray ( )

inline

Definition at line 130 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell	(	int	x,
		int	y
	)

inline

Definition at line 141 of file GridMapBase.h.

template<typename ConcreteCellType >

const ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell	(	int	x,
		int	y
	)		const

inline

Definition at line 146 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell ( int index )

inline

Definition at line 151 of file GridMapBase.h.

template<typename ConcreteCellType >

const ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell ( int index ) const

inline

Definition at line 156 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::getCellLength ( ) const

inline

Returns the cell edge length of grid cells in millimeters.

Returns: the cell edge length in millimeters.

Definition at line 296 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector2f hectorslam::GridMapBase< ConcreteCellType >::getMapCoords ( const Eigen::Vector2f & worldCoords ) const

inline

Returns the map coordinates for the given world coords.

Definition at line 218 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector3f hectorslam::GridMapBase< ConcreteCellType >::getMapCoordsPose ( const Eigen::Vector3f & worldPose ) const

inline

Returns the map pose for the given world pose.

Definition at line 235 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Vector2i& hectorslam::GridMapBase< ConcreteCellType >::getMapDimensions ( ) const

inline

Definition at line 60 of file GridMapBase.h.

template<typename ConcreteCellType >

const MapDimensionProperties& hectorslam::GridMapBase< ConcreteCellType >::getMapDimProperties ( ) const

inline

Definition at line 90 of file GridMapBase.h.

template<typename ConcreteCellType >

bool hectorslam::GridMapBase< ConcreteCellType >::getMapExtends	(	int &	xMax,
		int &	yMax,
		int &	xMin,
		int &	yMin
	)		const

inline

Returns the rectangle ([xMin,yMin],[xMax,xMax]) containing non-default cell values

Definition at line 334 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine2f& hectorslam::GridMapBase< ConcreteCellType >::getMapTworld ( ) const

inline

Returns a reference to the homogenous 2D transform from world to map coordinates.

Returns: The homogenous 2D transform.

Definition at line 323 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::getScaleToMap ( ) const

inline

Returns the scale factor for one unit in world coords to one unit in map coords.

Returns: The scale factor

Definition at line 287 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getSizeX ( ) const

inline

Definition at line 61 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getSizeY ( ) const

inline

Definition at line 62 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getUpdateIndex ( ) const

inline

Definition at line 329 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector2f hectorslam::GridMapBase< ConcreteCellType >::getWorldCoords ( const Eigen::Vector2f & mapCoords ) const

inline

Returns the world coordinates for the given map coords.

Definition at line 210 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector3f hectorslam::GridMapBase< ConcreteCellType >::getWorldCoordsPose ( const Eigen::Vector3f & mapPose ) const

inline

Returns the world pose for the given map pose.

Definition at line 226 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine2f& hectorslam::GridMapBase< ConcreteCellType >::getWorldTmap ( ) const

inline

Returns a reference to the homogenous 2D transform from map to world coordinates.

Returns: The homogenous 2D transform.

Definition at line 305 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine3f& hectorslam::GridMapBase< ConcreteCellType >::getWorldTmap3D ( ) const

inline

Returns a reference to the homogenous 3D transform from map to world coordinates.

Returns: The homogenous 3D transform.

Definition at line 314 of file GridMapBase.h.

template<typename ConcreteCellType >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool hectorslam::GridMapBase< ConcreteCellType >::hasGridValue	(	int	x,
		int	y
	)		const

inline

Indicates if given x and y are within map bounds

Returns: True if coordinates are within map bounds

Definition at line 55 of file GridMapBase.h.

template<typename ConcreteCellType >

GridMapBase& hectorslam::GridMapBase< ConcreteCellType >::operator= ( const GridMapBase< ConcreteCellType > & other )

inline

Assignment operator, only needed if pointer members are present.

Definition at line 182 of file GridMapBase.h.

template<typename ConcreteCellType >

bool hectorslam::GridMapBase< ConcreteCellType >::pointOutOfMapBounds ( const Eigen::Vector2f & pointMapCoords ) const

inline

Definition at line 64 of file GridMapBase.h.

template<typename ConcreteCellType >

virtual void hectorslam::GridMapBase< ConcreteCellType >::reset ( )

inlinevirtual

Definition at line 69 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setDimensionProperties	(	const Eigen::Vector2f &	topLeftOffsetIn,
		const Eigen::Vector2i &	mapDimensionsIn,
		float	cellLengthIn
	)

inline

Definition at line 241 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setDimensionProperties ( const MapDimensionProperties & newMapDimProps )

inline

Definition at line 246 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setMapGridSize ( const Eigen::Vector2i & newMapDims )

inline

Definition at line 161 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setMapTransformation	(	const Eigen::Vector2f &	topLeftOffset,
		float	cellLength
	)

inline

Set the map transformations

Parameters

xWorld	The origin of the map coordinate system on the x axis in world coordinates
yWorld	The origin of the map coordinate system on the y axis in world coordinates
The	cell length of the grid map

Definition at line 265 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setUpdated ( )

inline

Definition at line 328 of file GridMapBase.h.

Member Data Documentation

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::lastUpdateIndex

private

Definition at line 399 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType* hectorslam::GridMapBase< ConcreteCellType >::mapArray

protected

Map representation used with plain pointer array.

Definition at line 387 of file GridMapBase.h.

template<typename ConcreteCellType >

MapDimensionProperties hectorslam::GridMapBase< ConcreteCellType >::mapDimensionProperties

protected

Definition at line 395 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine2f hectorslam::GridMapBase< ConcreteCellType >::mapTworld

protected

Homogenous 2D transform from world to map coordinates.

Definition at line 393 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::scaleToMap

protected

Scaling factor from world to map.

Definition at line 389 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::sizeX

protected

Definition at line 396 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine2f hectorslam::GridMapBase< ConcreteCellType >::worldTmap

protected

Homogenous 2D transform from map to world coordinates.

Definition at line 391 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine3f hectorslam::GridMapBase< ConcreteCellType >::worldTmap3D

protected

Homogenous 3D transform from map to world coordinates.

Definition at line 392 of file GridMapBase.h.

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

GridMapBase.h

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

template<typename ConcreteCellType> class hectorslam::GridMapBase< ConcreteCellType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename ConcreteCellType>
class hectorslam::GridMapBase< ConcreteCellType >