Classes
class	GenericGridPublisher
	An interface for publishing NavGridOfX/OccupancyGrid msgs and their updates periodically. More...

class	GenericNavGridSubscriber

class	NavGridPublisher
	An interface for publishing NavGridOfChars/OccupancyGrid msgs and their updates periodically. More...

class	ScaleGridPublisher
	An interface for publishing NavGridOfDoubles/OccupancyGrid msgs and their updates periodically. More...

Typedefs
using	NavGridOfDoublesSubscriber = GenericNavGridSubscriber< double, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate >

using	NavGridSubscriber = GenericNavGridSubscriber< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate >

Functions
template<typename IntegralType >
void	applyInterpretation (nav_grid::NavGrid< IntegralType > &grid, const std::vector< IntegralType > &cost_interpretation_table)
	Apply a given interpretation to the provided nav grid. More...

template<typename ROSMsgType , typename NumericType >
void	fromMsg (const ROSMsgType &msg, nav_grid::NavGrid< NumericType > &grid)
	Generic conversion from message of arbitrary type to grid of arbitrary type. More...

template<typename NumericType >
void	fromOccupancyGrid (const nav_msgs::OccupancyGrid &msg, nav_grid::NavGrid< NumericType > &grid, const std::vector< NumericType > &cost_interpretation_table)
	generic OccupancyGrid to NavGrid conversion using cost_interpretation_table More...

template<typename NumericType >
nav_core2::UIntBounds	fromOccupancyGridUpdate (const map_msgs::OccupancyGridUpdate &update, nav_grid::NavGrid< NumericType > &grid, const std::vector< NumericType > &cost_interpretation_table)
	generic OccupancyGridUpdate to NavGrid conversion using cost_interpretation_table. More...

template<typename ROSMsgType , typename NumericType >
nav_core2::UIntBounds	fromUpdate (const ROSMsgType &update, nav_grid::NavGrid< NumericType > &grid)
	Generic conversion from an update message to a portion of a grid of arbitrary type. More...

template<typename NumericType >
void	getExtremeValues (const nav_grid::NavGrid< NumericType > &grid, const NumericType unknown_value, NumericType &min_val, NumericType &max_val)
	Retrieve the minimum and maximum values from a grid, ignoring the unknown_value. More...

std::vector< unsigned char >	getOccupancyInput (bool trinary=false, bool use_unknown_value=false)
	Above 100 is occupied, -1 is sometimes unknown, and otherwise it is either scaled or freespace. More...

std::vector< unsigned char >	grayScaleInterpretation (const double free_threshold, const double occupied_threshold)
	Above occupied_threshold is occupied, below free_threshold is free, and the middle is in between. More...

template<typename NumericType , typename IntegralType >
NumericType	interpretCost (IntegralType original_value, const std::vector< NumericType > &cost_interpretation_table)
	return cost_interpretation_table[original_value] (or original_value if not a valid index) More...

template<typename NumericType >
unsigned char	interpretValue (const NumericType value, const NumericType min_value, const NumericType denominator, const NumericType unknown_value)
	Scale the given value to fit within [0, 100] (unless its ignore_value, then its -1) More...

geometry_msgs::Point32	makePoint (const nav_grid::NavGridInfo &info, int x, int y)

std::vector< unsigned char >	pixelColoringInterpretation (const double free_threshold, const double occupied_threshold)
	Above occupied_threshold is occupied, below free_threshold is free, and the middle gray is unknown. More...

static std::vector< unsigned char >	RAW (0)
	Every value is untouched. More...

template<typename ROSMsgType , typename NumericType >
ROSMsgType	toMsg (const nav_grid::NavGrid< NumericType > &grid, const ros::Time &stamp)
	Utilities for converting NavGrid objects to NavGridOfX messages and updates. More...

nav_2d_msgs::NavGridOfChars	toMsg (const nav_grid::NavGrid< unsigned char > &grid, const ros::Time &stamp=ros::Time(0))
	NavGrid<unsigned char> to NavGridOfChars. More...

nav_2d_msgs::NavGridOfDoubles	toMsg (const nav_grid::NavGrid< double > &grid, const ros::Time &stamp=ros::Time(0))
	NavGrid<double> to NavGridOfDoubles. More...

nav_2d_msgs::NavGridOfDoubles	toMsg (const nav_grid::NavGrid< float > &grid, const ros::Time &stamp=ros::Time(0))
	NavGrid<float> to NavGridOfDoubles. More...

nav_msgs::OccupancyGrid	toOccupancyGrid (const nav_grid::NavGrid< unsigned char > &grid, const ros::Time &stamp=ros::Time(0), const std::vector< unsigned char > cost_interpretation_table=std::vector< unsigned char >())
	NavGrid<unsigned char> to OccupancyGrid using cost_interpretation_table. More...

template<typename NumericType >
nav_msgs::OccupancyGrid	toOccupancyGrid (const nav_grid::NavGrid< NumericType > &grid, const NumericType min_value, const NumericType max_value, const NumericType unknown_value, const ros::Time &stamp=ros::Time(0))
	generic NavGrid to OccupancyGrid using scaling. Min and max explicitly provided. More...

template<typename NumericType >
nav_msgs::OccupancyGrid	toOccupancyGrid (const nav_grid::NavGrid< NumericType > &grid, const NumericType unknown_value=std::numeric_limits< NumericType >::max(), const ros::Time &stamp=ros::Time(0))
	generic NavGrid to OccupancyGrid using scaling. Min and max not provided, so they are determined first. More...

map_msgs::OccupancyGridUpdate	toOccupancyGridUpdate (const nav_grid::NavGrid< unsigned char > &grid, const nav_core2::UIntBounds &bounds, const ros::Time &stamp=ros::Time(0), const std::vector< unsigned char > cost_interpretation_table=std::vector< unsigned char >())
	NavGrid<unsigned char> to OccupancyGridUpdate using cost_interpretation_table. More...

template<typename NumericType >
map_msgs::OccupancyGridUpdate	toOccupancyGridUpdate (const nav_grid::NavGrid< NumericType > &grid, const nav_core2::UIntBounds &bounds, const NumericType min_value, const NumericType max_value, const NumericType unknown_value, const ros::Time &stamp=ros::Time(0))
	generic NavGrid to OccupancyGridUpdate using scaling. Min and max explicitly provided. More...

template<typename ROSMsgType , typename NumericType >
ROSMsgType	toUpdate (const nav_grid::NavGrid< NumericType > &grid, const nav_core2::UIntBounds &bounds, const ros::Time &stamp)
	Generic conversion from a portion of a grid of arbitrary type to an update message of arbitrary type. More...

nav_2d_msgs::NavGridOfCharsUpdate	toUpdate (const nav_grid::NavGrid< unsigned char > &grid, const nav_core2::UIntBounds &bounds, const ros::Time &stamp=ros::Time(0))
	NavGrid<unsigned char> to NavGridOfCharsUpdate. More...

nav_2d_msgs::NavGridOfDoublesUpdate	toUpdate (const nav_grid::NavGrid< double > &grid, const nav_core2::UIntBounds &bounds, const ros::Time &stamp=ros::Time(0))
	NavGrid<double> to NavGridOfDoublesUpdate. More...

nav_2d_msgs::NavGridOfDoublesUpdate	toUpdate (const nav_grid::NavGrid< float > &grid, const nav_core2::UIntBounds &bounds, const ros::Time &stamp=ros::Time(0))
	NavGrid<float> to NavGridOfDoublesUpdate. More...

Variables
static std::vector< unsigned char >	NEGATE
	Every value is 255 - i value. More...

static std::vector< unsigned char >	OCC_GRID_PUBLISHING
	Scale [0, 255] down to [0, 100] (except for a few special values) More...

static std::vector< unsigned char >	SCALE_SAVE
	0 becomes 254 (white), 100 becomes 0 (black) and everything in between is gray More...

static std::vector< unsigned char >	TRINARY_SAVE
	0 becomes 254 (white), 100 becomes 0 (black) and everything else is 205 (gray) More...

Typedef Documentation

using nav_grid_pub_sub::NavGridOfDoublesSubscriber = typedef GenericNavGridSubscriber<double, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate>

Definition at line 161 of file nav_grid_subscriber.h.

using nav_grid_pub_sub::NavGridSubscriber = typedef GenericNavGridSubscriber<unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate>

Definition at line 158 of file nav_grid_subscriber.h.

Function Documentation

template<typename IntegralType >

void nav_grid_pub_sub::applyInterpretation	(	nav_grid::NavGrid< IntegralType > &	grid,
		const std::vector< IntegralType > &	cost_interpretation_table
	)

inline

Apply a given interpretation to the provided nav grid.

Definition at line 68 of file cost_interpretation.h.

template<typename ROSMsgType , typename NumericType >

void nav_grid_pub_sub::fromMsg	(	const ROSMsgType &	msg,
		nav_grid::NavGrid< NumericType > &	grid
	)

Generic conversion from message of arbitrary type to grid of arbitrary type.

Definition at line 103 of file nav_grid_message_utils.h.

template<typename NumericType >

void nav_grid_pub_sub::fromOccupancyGrid	(	const nav_msgs::OccupancyGrid &	msg,
		nav_grid::NavGrid< NumericType > &	grid,
		const std::vector< NumericType > &	cost_interpretation_table
	)

generic OccupancyGrid to NavGrid conversion using cost_interpretation_table

Definition at line 207 of file occ_grid_message_utils.h.

template<typename NumericType >

nav_core2::UIntBounds nav_grid_pub_sub::fromOccupancyGridUpdate	(	const map_msgs::OccupancyGridUpdate &	update,
		nav_grid::NavGrid< NumericType > &	grid,
		const std::vector< NumericType > &	cost_interpretation_table
	)

generic OccupancyGridUpdate to NavGrid conversion using cost_interpretation_table.

Returns: A bounds object to know how much was updated

Definition at line 233 of file occ_grid_message_utils.h.

template<typename ROSMsgType , typename NumericType >

nav_core2::UIntBounds nav_grid_pub_sub::fromUpdate	(	const ROSMsgType &	update,
		nav_grid::NavGrid< NumericType > &	grid
	)

Generic conversion from an update message to a portion of a grid of arbitrary type.

Definition at line 123 of file nav_grid_message_utils.h.

template<typename NumericType >

void nav_grid_pub_sub::getExtremeValues	(	const nav_grid::NavGrid< NumericType > &	grid,
		const NumericType	unknown_value,
		NumericType &	min_val,
		NumericType &	max_val
	)

inline

Retrieve the minimum and maximum values from a grid, ignoring the unknown_value.

Definition at line 138 of file occ_grid_message_utils.h.

std::vector< unsigned char > nav_grid_pub_sub::getOccupancyInput	(	bool	trinary = `false`,
		bool	use_unknown_value = `false`
	)

Above 100 is occupied, -1 is sometimes unknown, and otherwise it is either scaled or freespace.

Expects values from [-1, 100] and outputs [0, 255]

Definition at line 86 of file cost_interpretation_tables.cpp.

std::vector< unsigned char > nav_grid_pub_sub::grayScaleInterpretation	(	const double	free_threshold,
		const double	occupied_threshold
	)

Above occupied_threshold is occupied, below free_threshold is free, and the middle is in between.

Expects values from [0, 255] and flattens them to [0, 100]

Definition at line 63 of file cost_interpretation_tables.cpp.

template<typename NumericType , typename IntegralType >

NumericType nav_grid_pub_sub::interpretCost	(	IntegralType	original_value,
		const std::vector< NumericType > &	cost_interpretation_table
	)

inline

return cost_interpretation_table[original_value] (or original_value if not a valid index)

Since original_value is used as the index into the table, it must be an integer-like type (i.e. not double)

Definition at line 50 of file cost_interpretation.h.

template<typename NumericType >

unsigned char nav_grid_pub_sub::interpretValue	(	const NumericType	value,
		const NumericType	min_value,
		const NumericType	denominator,
		const NumericType	unknown_value
	)

inline

Scale the given value to fit within [0, 100] (unless its ignore_value, then its -1)

Note denominator is used instead of max_value to avoid recalculating the difference each time this is called.

Parameters

value	Value to interpret
min_value	Minimum value that will correspond to 0
denominator	The result of max_value - min_value, where max_value corresponds with 100
unknown_value	If the value is equal to this value, return -1

Definition at line 88 of file cost_interpretation.h.

geometry_msgs::Point32 nav_grid_pub_sub::makePoint	(	const nav_grid::NavGridInfo &	info,
		int	x,
		int	y
	)

inline

Definition at line 54 of file nav_grid_publisher.h.

std::vector< unsigned char > nav_grid_pub_sub::pixelColoringInterpretation	(	const double	free_threshold,
		const double	occupied_threshold
	)

Above occupied_threshold is occupied, below free_threshold is free, and the middle gray is unknown.

Expects values from [0, 255] and flattens them to 0, 100, and -1

Definition at line 41 of file cost_interpretation_tables.cpp.

static std::vector<unsigned char> nav_grid_pub_sub::RAW ( 0 )

static

Every value is untouched.

template<typename ROSMsgType , typename NumericType >

ROSMsgType nav_grid_pub_sub::toMsg	(	const nav_grid::NavGrid< NumericType > &	grid,
		const ros::Time &	stamp
	)

Utilities for converting NavGrid objects to NavGridOfX messages and updates.

Generic conversion from grid of arbitrary type to message of arbitrary type

Note that the ROSMsgType must be provided since return types are not used in template type deduction.

Definition at line 59 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfChars nav_grid_pub_sub::toMsg	(	const nav_grid::NavGrid< unsigned char > &	grid,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<unsigned char> to NavGridOfChars.

Definition at line 139 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfDoubles nav_grid_pub_sub::toMsg	(	const nav_grid::NavGrid< double > &	grid,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<double> to NavGridOfDoubles.

Definition at line 148 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfDoubles nav_grid_pub_sub::toMsg	(	const nav_grid::NavGrid< float > &	grid,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<float> to NavGridOfDoubles.

Definition at line 156 of file nav_grid_message_utils.h.

nav_msgs::OccupancyGrid nav_grid_pub_sub::toOccupancyGrid	(	const nav_grid::NavGrid< unsigned char > &	grid,
		const ros::Time &	stamp = `ros::Time(0)`,
		const std::vector< unsigned char >	cost_interpretation_table = `std::vector<unsigned char>()`
	)

inline

NavGrid<unsigned char> to OccupancyGrid using cost_interpretation_table.

Definition at line 56 of file occ_grid_message_utils.h.

template<typename NumericType >

nav_msgs::OccupancyGrid nav_grid_pub_sub::toOccupancyGrid	(	const nav_grid::NavGrid< NumericType > &	grid,
		const NumericType	min_value,
		const NumericType	max_value,
		const NumericType	unknown_value,
		const ros::Time &	stamp = `ros::Time(0)`
	)

generic NavGrid to OccupancyGrid using scaling. Min and max explicitly provided.

NumericType can be inferred, so explicitly specifying it is generally not needed.

Definition at line 108 of file occ_grid_message_utils.h.

template<typename NumericType >

nav_msgs::OccupancyGrid nav_grid_pub_sub::toOccupancyGrid	(	const nav_grid::NavGrid< NumericType > &	grid,
		const NumericType	unknown_value = `std::numeric_limits<NumericType>::max()`,
		const ros::Time &	stamp = `ros::Time(0)`
	)

generic NavGrid to OccupancyGrid using scaling. Min and max not provided, so they are determined first.

NumericType can be inferred, so explicitly specifying it is generally not needed.

Definition at line 159 of file occ_grid_message_utils.h.

map_msgs::OccupancyGridUpdate nav_grid_pub_sub::toOccupancyGridUpdate	(	const nav_grid::NavGrid< unsigned char > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const ros::Time &	stamp = `ros::Time(0)`,
		const std::vector< unsigned char >	cost_interpretation_table = `std::vector<unsigned char>()`
	)

inline

NavGrid<unsigned char> to OccupancyGridUpdate using cost_interpretation_table.

Definition at line 78 of file occ_grid_message_utils.h.

template<typename NumericType >

map_msgs::OccupancyGridUpdate nav_grid_pub_sub::toOccupancyGridUpdate	(	const nav_grid::NavGrid< NumericType > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const NumericType	min_value,
		const NumericType	max_value,
		const NumericType	unknown_value,
		const ros::Time &	stamp = `ros::Time(0)`
	)

generic NavGrid to OccupancyGridUpdate using scaling. Min and max explicitly provided.

NumericType can be inferred, so explicitly specifying it is generally not needed.

Definition at line 174 of file occ_grid_message_utils.h.

template<typename ROSMsgType , typename NumericType >

ROSMsgType nav_grid_pub_sub::toUpdate	(	const nav_grid::NavGrid< NumericType > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const ros::Time &	stamp
	)

Generic conversion from a portion of a grid of arbitrary type to an update message of arbitrary type.

Note that the ROSMsgType must be provided since return types are not used in template type deduction.

Definition at line 82 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfCharsUpdate nav_grid_pub_sub::toUpdate	(	const nav_grid::NavGrid< unsigned char > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<unsigned char> to NavGridOfCharsUpdate.

Definition at line 164 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfDoublesUpdate nav_grid_pub_sub::toUpdate	(	const nav_grid::NavGrid< double > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<double> to NavGridOfDoublesUpdate.

Definition at line 173 of file nav_grid_message_utils.h.

nav_2d_msgs::NavGridOfDoublesUpdate nav_grid_pub_sub::toUpdate	(	const nav_grid::NavGrid< float > &	grid,
		const nav_core2::UIntBounds &	bounds,
		const ros::Time &	stamp = `ros::Time(0)`
	)

inline

NavGrid<float> to NavGridOfDoublesUpdate.

Definition at line 182 of file nav_grid_message_utils.h.

Variable Documentation

std::vector<unsigned char> nav_grid_pub_sub::NEGATE

static

Initial value:

=
{
  
  255, 254, 253, 252, 251, 250, 249, 248, 247, 246,   
  245, 244, 243, 242, 241, 240, 239, 238, 237, 236,
  235, 234, 233, 232, 231, 230, 229, 228, 227, 226,
  225, 224, 223, 222, 221, 220, 219, 218, 217, 216,
  215, 214, 213, 212, 211, 210, 209, 208, 207, 206,
  205, 204, 203, 202, 201, 200, 199, 198, 197, 196,   
  195, 194, 193, 192, 191, 190, 189, 188, 187, 186,
  185, 184, 183, 182, 181, 180, 179, 178, 177, 176,
  175, 174, 173, 172, 171, 170, 169, 168, 167, 166,
  165, 164, 163, 162, 161, 160, 159, 158, 157, 156,
  155, 154, 153, 152, 151, 150, 149, 148, 147, 146,   
  145, 144, 143, 142, 141, 140, 139, 138, 137, 136,
  135, 134, 133, 132, 131, 130, 129, 128, 127, 126,
  125, 124, 123, 122, 121, 120, 119, 118, 117, 116,
  115, 114, 113, 112, 111, 110, 109, 108, 107, 106,
  105, 104, 103, 102, 101, 100, 99, 98, 97, 96,       
  95, 94, 93, 92, 91, 90, 89, 88, 87, 86,
  85, 84, 83, 82, 81, 80, 79, 78, 77, 76,
  75, 74, 73, 72, 71, 70, 69, 68, 67, 66,
  65, 64, 63, 62, 61, 60, 59, 58, 57, 56,
  55, 54, 53, 52, 51, 50, 49, 48, 47, 46,             
  45, 44, 43, 42, 41, 40, 39, 38, 37, 36,
  35, 34, 33, 32, 31, 30, 29, 28, 27, 26,
  25, 24, 23, 22, 21, 20, 19, 18, 17, 16,
  15, 14, 13, 12, 11, 10, 9, 8, 7, 6,
  5, 4, 3, 2, 1, 0                                    
}

Every value is 255 - i value.

map from [0, 255] to [255, 0]

Definition at line 52 of file cost_interpretation_tables.h.

std::vector<unsigned char> nav_grid_pub_sub::OCC_GRID_PUBLISHING

static

Scale [0, 255] down to [0, 100] (except for a few special values)

Expects values from [0, 255] and flattens them to [-1, 100] There are a few special values that only have one input value mapping to them. 0, 253, 254 and 255 always map to 0, 99, 100, and 255 (and are the only values that do).

Definition at line 97 of file cost_interpretation_tables.h.

std::vector<unsigned char> nav_grid_pub_sub::SCALE_SAVE

static

0 becomes 254 (white), 100 becomes 0 (black) and everything in between is gray

Translates from a trinary occupancy grid to an image pixel color

Definition at line 198 of file cost_interpretation_tables.h.

std::vector<unsigned char> nav_grid_pub_sub::TRINARY_SAVE

static

0 becomes 254 (white), 100 becomes 0 (black) and everything else is 205 (gray)

Translates from a trinary occupancy grid to an image pixel color

Definition at line 156 of file cost_interpretation_tables.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation