An occupancy grid implementation. More...

#include <grid_map.h>

Public Types
using	Cell = std::shared_ptr< GridCell >

Public Member Functions
double	cell_scale () const
	Returnes the scale. More...

double	cell_value (const DiscretePoint2D &cell_coord) const

const std::vector< std::vector< Cell > >	cells () const
	Returns map's cells. More...

	GridMap (std::shared_ptr< GridCellFactory > cell_factory, const GridMapParams &init_params)

int	height () const
	Returns thr height of the map. More...

int	map_center_x () const

int	map_center_y () const

double	scale () const
	Returns the scale. More...

void	update_cell (const DiscretePoint2D &cell_coord, const Occupancy &new_value, double quality=1.0)

int	width () const
	Returns the width of the map. More...

Rectangle	world_cell_bounds (const DiscretePoint2D &cell_coord)

DiscretePoint2D	world_to_cell (double x, double y) const

Private Types
using	Map = std::vector< Row >

using	Row = std::vector< Cell >

Private Member Functions
void	add_cols (const int cols_count, std::function< Row::iterator(Row &)> it)

void	add_rows (const int rows_count, Map::iterator it)

int	calc_sufficient_bound (const int container_coord, const int map_bound)

long	closest_bounded_power_two (long x)

bool	has_cell (const DiscretePoint2D &cell_coord) const

void	resize_bound (const int dim, const int container_coord)

void	resize_in_direction (const int delta, const int direction_flag)

void	update_size (const DiscretePoint2D &cell_coord)

Private Attributes
std::shared_ptr< GridCellFactory >	_cell_factory

Map	_cells

int	_height

double	_m_per_cell

int	_map_center_x

int	_map_center_y

Cell	_unvisited_cell

int	_width

const int	RESIZE_BWD = 1

const int	RESIZE_DIM_BIT = 1

const int	RESIZE_DIR_BIT = 0

const int	RESIZE_DOWN = RESIZE_DIR(RESIZE_VERT, RESIZE_BWD)

const int	RESIZE_FWD = 0

const int	RESIZE_HORZ = 1

const int	RESIZE_LEFT = RESIZE_DIR(RESIZE_HORZ, RESIZE_BWD)

const int	RESIZE_RIGHT = RESIZE_DIR(RESIZE_HORZ, RESIZE_FWD)

const int	RESIZE_UP = RESIZE_DIR(RESIZE_VERT, RESIZE_FWD)

const int	RESIZE_VERT = 0

Detailed Description

An occupancy grid implementation.

Definition at line 22 of file grid_map.h.

Member Typedef Documentation

using GridMap::Cell = std::shared_ptr<GridCell>

Definition at line 24 of file grid_map.h.

using GridMap::Map = std::vector<Row>

private

Definition at line 27 of file grid_map.h.

using GridMap::Row = std::vector<Cell>

private

Definition at line 26 of file grid_map.h.

Constructor & Destructor Documentation

GridMap::GridMap	(	std::shared_ptr< GridCellFactory >	cell_factory,
		const GridMapParams &	init_params
	)

inline

Creates a GridCell based map.

Parameters

cell_factory The factory that creates a requied type of Cell.

Definition at line 35 of file grid_map.h.

Member Function Documentation

void GridMap::add_cols	(	const int	cols_count,
		std::function< Row::iterator(Row &)>	it
	)

inlineprivate

Definition at line 213 of file grid_map.h.

void GridMap::add_rows	(	const int	rows_count,
		Map::iterator	it
	)

inlineprivate

Definition at line 202 of file grid_map.h.

int GridMap::calc_sufficient_bound	(	const int	container_coord,
		const int	map_bound
	)

inlineprivate

Definition at line 164 of file grid_map.h.

double GridMap::cell_scale ( ) const

inline

Returnes the scale.

Definition at line 110 of file grid_map.h.

double GridMap::cell_value ( const DiscretePoint2D & cell_coord ) const

inline

Returns the probability of the cell to be occupied.

Parameters

cell_coord A point with coordinates of requied cell in Grid Map.

Definition at line 90 of file grid_map.h.

const std::vector<std::vector<Cell> > GridMap::cells ( ) const

inline

Returns map's cells.

Definition at line 63 of file grid_map.h.

long GridMap::closest_bounded_power_two ( long x )

inlineprivate

Definition at line 177 of file grid_map.h.

bool GridMap::has_cell ( const DiscretePoint2D & cell_coord ) const

inlineprivate

Definition at line 136 of file grid_map.h.

int GridMap::height ( ) const

inline

Returns thr height of the map.

Definition at line 57 of file grid_map.h.

int GridMap::map_center_x ( ) const

inline

Returns the $x$ coordinate of the map center

Definition at line 129 of file grid_map.h.

int GridMap::map_center_y ( ) const

inline

Returns the $y$ coordinate of the map center

Definition at line 133 of file grid_map.h.

void GridMap::resize_bound	(	const int	dim,
		const int	container_coord
	)

inlineprivate

Definition at line 149 of file grid_map.h.

void GridMap::resize_in_direction	(	const int	delta,
		const int	direction_flag
	)

inlineprivate

Definition at line 185 of file grid_map.h.

double GridMap::scale ( ) const

inline

Returns the scale.

Definition at line 60 of file grid_map.h.

void GridMap::update_cell	(	const DiscretePoint2D &	cell_coord,
		const Occupancy &	new_value,
		double	quality = `1.0`
	)

inline

Updates a cell with a new occupancy data.

Parameters

cell_coord	Coordinates of a cell.
new_value	The probability for cell of being occupied.
quality	The Measure of beleif to the data.

Definition at line 76 of file grid_map.h.

void GridMap::update_size ( const DiscretePoint2D & cell_coord )

inlineprivate

Definition at line 141 of file grid_map.h.

int GridMap::width ( ) const

inline

Returns the width of the map.

Definition at line 54 of file grid_map.h.

Rectangle GridMap::world_cell_bounds ( const DiscretePoint2D & cell_coord )

inline

Returns the bounds of the cell in the World.

Parameters

cell_coord The point with coordinates of requied cell in the grid map.

Definition at line 117 of file grid_map.h.

DiscretePoint2D GridMap::world_to_cell	(	double	x,
		double	y
	)		const

inline

Projects coordinates in meters onto a cell of the grid map.

Returns: The cell point corresponding to given coordinates.

Definition at line 101 of file grid_map.h.

Member Data Documentation

std::shared_ptr<GridCellFactory> GridMap::_cell_factory

private

Definition at line 248 of file grid_map.h.

Map GridMap::_cells

private

Definition at line 249 of file grid_map.h.

int GridMap::_height

private

Definition at line 244 of file grid_map.h.

double GridMap::_m_per_cell

private

Definition at line 246 of file grid_map.h.

int GridMap::_map_center_x

private

Definition at line 245 of file grid_map.h.

int GridMap::_map_center_y

private

Definition at line 245 of file grid_map.h.

Cell GridMap::_unvisited_cell

private

Definition at line 247 of file grid_map.h.

int GridMap::_width

private

Definition at line 244 of file grid_map.h.

const int GridMap::RESIZE_BWD = 1

private

Definition at line 234 of file grid_map.h.

const int GridMap::RESIZE_DIM_BIT = 1

private

Definition at line 231 of file grid_map.h.

const int GridMap::RESIZE_DIR_BIT = 0

private

Definition at line 235 of file grid_map.h.

const int GridMap::RESIZE_DOWN = RESIZE_DIR(RESIZE_VERT, RESIZE_BWD)

private

Definition at line 238 of file grid_map.h.

const int GridMap::RESIZE_FWD = 0

private

Definition at line 233 of file grid_map.h.

const int GridMap::RESIZE_HORZ = 1

private

Definition at line 230 of file grid_map.h.

const int GridMap::RESIZE_LEFT = RESIZE_DIR(RESIZE_HORZ, RESIZE_BWD)

private

Definition at line 240 of file grid_map.h.

const int GridMap::RESIZE_RIGHT = RESIZE_DIR(RESIZE_HORZ, RESIZE_FWD)

private

Definition at line 239 of file grid_map.h.

const int GridMap::RESIZE_UP = RESIZE_DIR(RESIZE_VERT, RESIZE_FWD)

private

Definition at line 237 of file grid_map.h.

const int GridMap::RESIZE_VERT = 0

private

Definition at line 229 of file grid_map.h.

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

grid_map.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation