#include <grid_map.h>

Public Types
typedef Columns::iterator	ColumnIterator

typedef std::map< int, RowIndices >	Columns

typedef boost::shared_ptr< GridMap >	Ptr

typedef std::set< int >	RowIndices

typedef std::set< int >::iterator	RowIterator

Public Member Functions
virtual void	add (GridMap &other)

virtual bool	check4Neighbor (int x, int y)

virtual void	decrease (int i)

virtual void	fillRegion (const Eigen::Vector3f &start, std::vector< GridIndex::Ptr > &output)

virtual void	fillRegion (const GridIndex::Ptr start, std::vector< GridIndex::Ptr > &output)

virtual std::vector< float >	getCoefficients ()

virtual unsigned int	getGeneration ()

virtual bool	getValue (const GridIndex &index)

virtual bool	getValue (const GridIndex::Ptr &index)

virtual bool	getValue (const int x, const int y)

virtual unsigned int	getVoteNum ()

	GridMap (double resolution, const std::vector< float > &coefficients)

virtual void	gridToPoint (const GridIndex &index, Eigen::Vector3f &pos)

virtual void	gridToPoint (GridIndex::Ptr index, Eigen::Vector3f &pos)

virtual void	gridToPoint2 (const GridIndex &index, Eigen::Vector3f &pos)

virtual int	heightOffset ()

virtual void	indicesToPointCloud (const std::vector< GridIndex::Ptr > &indices, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

virtual bool	isBinsOccupied (const Eigen::Vector3f &p)

virtual boost::tuple< int, int >	minMaxX ()

virtual boost::tuple< int, int >	minMaxY ()

virtual int	normalizedHeight ()

virtual int	normalizedIndex (int width_offset, int height_offset, int step, int elem_size, int original_x, int original_y)

virtual int	normalizedWidth ()

virtual void	originPose (Eigen::Affine3d &output)

virtual void	originPose (Eigen::Affine3f &output)

virtual void	pointToIndex (const Eigen::Vector3f &point, GridIndex::Ptr index)

virtual void	pointToIndex (const pcl::PointXYZRGB &point, GridIndex::Ptr index)

virtual GridIndex::Ptr	registerIndex (const GridIndex::Ptr &index)

virtual GridIndex::Ptr	registerIndex (const int x, const int y)

virtual std::vector< GridIndex::Ptr >	registerLine (const pcl::PointXYZRGB &from, const pcl::PointXYZRGB &to)

virtual void	registerPoint (const pcl::PointXYZRGB &point)

virtual void	registerPointCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

virtual void	removeIndex (const GridIndex::Ptr &index)

virtual void	setGeneration (unsigned int generation)

virtual ConvexPolygon::Ptr	toConvexPolygon ()

virtual cv::Mat	toImage ()

virtual void	toMsg (jsk_recognition_msgs::SparseOccupancyGrid &grid)

virtual Plane	toPlane ()

virtual Plane::Ptr	toPlanePtr ()

virtual pcl::PointCloud< pcl::PointXYZ >::Ptr	toPointCloud ()

virtual void	vote ()

virtual int	widthOffset ()

virtual	~GridMap ()

Protected Member Functions
virtual void	decreaseOne ()

Protected Attributes
double	d_

Columns	data_

Eigen::Vector3f	ex_

Eigen::Vector3f	ey_

unsigned int	generation_

std::vector< GridLine::Ptr >	lines_

Eigen::Vector3f	normal_

Eigen::Vector3f	O_

double	resolution_

unsigned int	vote_

Detailed Description

Definition at line 87 of file grid_map.h.

Member Typedef Documentation

◆ ColumnIterator

typedef Columns::iterator jsk_recognition_utils::GridMap::ColumnIterator

Definition at line 125 of file grid_map.h.

◆ Columns

typedef std::map<int, RowIndices> jsk_recognition_utils::GridMap::Columns

Definition at line 124 of file grid_map.h.

◆ Ptr

typedef boost::shared_ptr<GridMap> jsk_recognition_utils::GridMap::Ptr

Definition at line 122 of file grid_map.h.

◆ RowIndices

typedef std::set<int> jsk_recognition_utils::GridMap::RowIndices

Definition at line 123 of file grid_map.h.

◆ RowIterator

typedef std::set<int>::iterator jsk_recognition_utils::GridMap::RowIterator

Definition at line 126 of file grid_map.h.

Constructor & Destructor Documentation

◆ GridMap()

jsk_recognition_utils::GridMap::GridMap	(	double	resolution,
		const std::vector< float > &	coefficients
	)

Definition at line 49 of file grid_map.cpp.

◆ ~GridMap()

jsk_recognition_utils::GridMap::~GridMap ( )

virtual

Definition at line 70 of file grid_map.cpp.

Member Function Documentation

◆ add()

void jsk_recognition_utils::GridMap::add ( GridMap & other )

virtual

Definition at line 608 of file grid_map.cpp.

◆ check4Neighbor()

bool jsk_recognition_utils::GridMap::check4Neighbor	(	int	x,
		int	y
	)

virtual

Definition at line 568 of file grid_map.cpp.

◆ decrease()

void jsk_recognition_utils::GridMap::decrease ( int i )

virtual

Definition at line 601 of file grid_map.cpp.

◆ decreaseOne()

void jsk_recognition_utils::GridMap::decreaseOne ( )

protectedvirtual

Definition at line 580 of file grid_map.cpp.

◆ fillRegion() [1/2]

void jsk_recognition_utils::GridMap::fillRegion	(	const Eigen::Vector3f &	start,
		std::vector< GridIndex::Ptr > &	output
	)

virtual

Definition at line 337 of file grid_map.cpp.

◆ fillRegion() [2/2]

void jsk_recognition_utils::GridMap::fillRegion	(	const GridIndex::Ptr	start,
		std::vector< GridIndex::Ptr > &	output
	)

virtual

Definition at line 293 of file grid_map.cpp.

◆ getCoefficients()

std::vector< float > jsk_recognition_utils::GridMap::getCoefficients ( )

virtual

Definition at line 417 of file grid_map.cpp.

◆ getGeneration()

unsigned int jsk_recognition_utils::GridMap::getGeneration ( )

virtual

Definition at line 441 of file grid_map.cpp.

◆ getValue() [1/3]

bool jsk_recognition_utils::GridMap::getValue ( const GridIndex & index )

virtual

Definition at line 283 of file grid_map.cpp.

◆ getValue() [2/3]

bool jsk_recognition_utils::GridMap::getValue ( const GridIndex::Ptr & index )

virtual

Definition at line 288 of file grid_map.cpp.

◆ getValue() [3/3]

bool jsk_recognition_utils::GridMap::getValue	(	const int	x,
		const int	y
	)

virtual

Definition at line 247 of file grid_map.cpp.

◆ getVoteNum()

unsigned int jsk_recognition_utils::GridMap::getVoteNum ( )

virtual

Definition at line 432 of file grid_map.cpp.

◆ gridToPoint() [1/2]

void jsk_recognition_utils::GridMap::gridToPoint	(	const GridIndex &	index,
		Eigen::Vector3f &	pos
	)

virtual

Definition at line 234 of file grid_map.cpp.

◆ gridToPoint() [2/2]

void jsk_recognition_utils::GridMap::gridToPoint	(	GridIndex::Ptr	index,
		Eigen::Vector3f &	pos
	)

virtual

Definition at line 229 of file grid_map.cpp.

◆ gridToPoint2()

void jsk_recognition_utils::GridMap::gridToPoint2	(	const GridIndex &	index,
		Eigen::Vector3f &	pos
	)

virtual

Definition at line 240 of file grid_map.cpp.

◆ heightOffset()

int jsk_recognition_utils::GridMap::heightOffset ( )

virtual

Definition at line 526 of file grid_map.cpp.

◆ indicesToPointCloud()

void jsk_recognition_utils::GridMap::indicesToPointCloud	(	const std::vector< GridIndex::Ptr > &	indices,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud
	)

virtual

Definition at line 344 of file grid_map.cpp.

◆ isBinsOccupied()

bool jsk_recognition_utils::GridMap::isBinsOccupied ( const Eigen::Vector3f & p )

virtual

Definition at line 458 of file grid_map.cpp.

◆ minMaxX()

boost::tuple< int, int > jsk_recognition_utils::GridMap::minMaxX ( )

virtual

Definition at line 466 of file grid_map.cpp.

◆ minMaxY()

boost::tuple< int, int > jsk_recognition_utils::GridMap::minMaxY ( )

virtual

Definition at line 484 of file grid_map.cpp.

◆ normalizedHeight()

int jsk_recognition_utils::GridMap::normalizedHeight ( )

virtual

Definition at line 513 of file grid_map.cpp.

◆ normalizedIndex()

int jsk_recognition_utils::GridMap::normalizedIndex	(	int	width_offset,
		int	height_offset,
		int	step,
		int	elem_size,
		int	original_x,
		int	original_y
	)

virtual

Definition at line 533 of file grid_map.cpp.

◆ normalizedWidth()

int jsk_recognition_utils::GridMap::normalizedWidth ( )

virtual

Definition at line 507 of file grid_map.cpp.

◆ originPose() [1/2]

void jsk_recognition_utils::GridMap::originPose ( Eigen::Affine3d & output )

virtual

Definition at line 372 of file grid_map.cpp.

◆ originPose() [2/2]

void jsk_recognition_utils::GridMap::originPose ( Eigen::Affine3f & output )

virtual

Definition at line 359 of file grid_map.cpp.

◆ pointToIndex() [1/2]

void jsk_recognition_utils::GridMap::pointToIndex	(	const Eigen::Vector3f &	point,
		GridIndex::Ptr	index
	)

virtual

Definition at line 223 of file grid_map.cpp.

◆ pointToIndex() [2/2]

void jsk_recognition_utils::GridMap::pointToIndex	(	const pcl::PointXYZRGB &	point,
		GridIndex::Ptr	index
	)

virtual

Definition at line 218 of file grid_map.cpp.

◆ registerIndex() [1/2]

GridIndex::Ptr jsk_recognition_utils::GridMap::registerIndex ( const GridIndex::Ptr & index )

virtual

Definition at line 90 of file grid_map.cpp.

◆ registerIndex() [2/2]

GridIndex::Ptr jsk_recognition_utils::GridMap::registerIndex	(	const int	x,
		const int	y
	)

virtual

Definition at line 75 of file grid_map.cpp.

◆ registerLine()

std::vector< GridIndex::Ptr > jsk_recognition_utils::GridMap::registerLine	(	const pcl::PointXYZRGB &	from,
		const pcl::PointXYZRGB &	to
	)

virtual

Definition at line 103 of file grid_map.cpp.

◆ registerPoint()

void jsk_recognition_utils::GridMap::registerPoint ( const pcl::PointXYZRGB & point )

virtual

Definition at line 95 of file grid_map.cpp.

◆ registerPointCloud()

void jsk_recognition_utils::GridMap::registerPointCloud ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud )

virtual

Definition at line 210 of file grid_map.cpp.

◆ removeIndex()

void jsk_recognition_utils::GridMap::removeIndex ( const GridIndex::Ptr & index )

virtual

Definition at line 446 of file grid_map.cpp.

◆ setGeneration()

void jsk_recognition_utils::GridMap::setGeneration ( unsigned int generation )

virtual

Definition at line 437 of file grid_map.cpp.

◆ toConvexPolygon()

ConvexPolygon::Ptr jsk_recognition_utils::GridMap::toConvexPolygon ( )

virtual

Definition at line 652 of file grid_map.cpp.

◆ toImage()

cv::Mat jsk_recognition_utils::GridMap::toImage ( )

virtual

Definition at line 544 of file grid_map.cpp.

◆ toMsg()

void jsk_recognition_utils::GridMap::toMsg ( jsk_recognition_msgs::SparseOccupancyGrid & grid )

virtual

Definition at line 379 of file grid_map.cpp.

◆ toPlane()

Plane jsk_recognition_utils::GridMap::toPlane ( )

virtual

Definition at line 405 of file grid_map.cpp.

◆ toPlanePtr()

Plane::Ptr jsk_recognition_utils::GridMap::toPlanePtr ( )

virtual

Definition at line 410 of file grid_map.cpp.

◆ toPointCloud()

pcl::PointCloud< pcl::PointXYZ >::Ptr jsk_recognition_utils::GridMap::toPointCloud ( )

virtual

Definition at line 629 of file grid_map.cpp.

◆ vote()

void jsk_recognition_utils::GridMap::vote ( )

virtual

Definition at line 427 of file grid_map.cpp.

◆ widthOffset()

int jsk_recognition_utils::GridMap::widthOffset ( )

virtual

Definition at line 519 of file grid_map.cpp.

Member Data Documentation

◆ d_

double jsk_recognition_utils::GridMap::d_

protected

Definition at line 183 of file grid_map.h.

◆ data_

Columns jsk_recognition_utils::GridMap::data_

protected

Definition at line 188 of file grid_map.h.

◆ ex_

Eigen::Vector3f jsk_recognition_utils::GridMap::ex_

protected

Definition at line 185 of file grid_map.h.

◆ ey_

Eigen::Vector3f jsk_recognition_utils::GridMap::ey_

protected

Definition at line 185 of file grid_map.h.

◆ generation_

unsigned int jsk_recognition_utils::GridMap::generation_

protected

Definition at line 190 of file grid_map.h.

◆ lines_

std::vector<GridLine::Ptr> jsk_recognition_utils::GridMap::lines_

protected

Definition at line 187 of file grid_map.h.

◆ normal_

Eigen::Vector3f jsk_recognition_utils::GridMap::normal_

protected

Definition at line 182 of file grid_map.h.

◆ O_

Eigen::Vector3f jsk_recognition_utils::GridMap::O_

protected

Definition at line 179 of file grid_map.h.

◆ resolution_

double jsk_recognition_utils::GridMap::resolution_

protected

Definition at line 178 of file grid_map.h.

◆ vote_

unsigned int jsk_recognition_utils::GridMap::vote_

protected

Definition at line 189 of file grid_map.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ColumnIterator

◆ Columns

◆ Ptr

◆ RowIndices

◆ RowIterator

Constructor & Destructor Documentation

◆ GridMap()

◆ ~GridMap()

Member Function Documentation

◆ add()

◆ check4Neighbor()

◆ decrease()

◆ decreaseOne()

◆ fillRegion() [1/2]

◆ fillRegion() [2/2]

◆ getCoefficients()

◆ getGeneration()

◆ getValue() [1/3]

◆ getValue() [2/3]

◆ getValue() [3/3]

◆ getVoteNum()

◆ gridToPoint() [1/2]

◆ gridToPoint() [2/2]

◆ gridToPoint2()

◆ heightOffset()

◆ indicesToPointCloud()

◆ isBinsOccupied()

◆ minMaxX()

◆ minMaxY()

◆ normalizedHeight()

◆ normalizedIndex()

◆ normalizedWidth()

◆ originPose() [1/2]

◆ originPose() [2/2]

◆ pointToIndex() [1/2]

◆ pointToIndex() [2/2]

◆ registerIndex() [1/2]

◆ registerIndex() [2/2]

◆ registerLine()

◆ registerPoint()

◆ registerPointCloud()

◆ removeIndex()

◆ setGeneration()

◆ toConvexPolygon()

◆ toImage()

◆ toMsg()

◆ toPlane()

◆ toPlanePtr()

◆ toPointCloud()

◆ vote()

◆ widthOffset()

Member Data Documentation

◆ d_

◆ data_

◆ ex_

◆ ey_

◆ generation_

◆ lines_

◆ normal_

◆ O_

◆ resolution_

◆ vote_