grid_map Namespace Reference

Namespaces
	internal

Classes
class	BufferRegion
class	CircleIterator
struct	Clamp
class	EllipseIterator
class	GridMap
class	GridMapIterator
class	LineIterator
class	Polygon
class	PolygonIterator
class	SlidingWindowIterator
class	SpiralIterator
class	SubmapGeometry
class	SubmapIterator

Typedefs
typedef Matrix::Scalar	DataType
typedef Eigen::Array2i	Index
typedef Eigen::Array2d	Length
typedef Eigen::MatrixXf	Matrix
typedef Eigen::Vector2d	Position
typedef Eigen::Vector3d	Position3
typedef Eigen::Array2i	Size
typedef uint64_t	Time
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector3d	Vector3

Enumerations
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR }

Functions
template<typename M1 , typename M2 >
void	assertEqual (const M1 &A, const M2 &B, std::string const &message="")
template<typename M1 >
void	assertFinite (const M1 &A, std::string const &message="")
template<typename M1 , typename M2 , typename T >
void	assertNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
void	boundIndexToRange (Index &index, const Size &bufferSize)
void	boundIndexToRange (int &index, const int &bufferSize)
void	boundPositionToRange (Position &position, const Length &mapLength, const Position &mapPosition)
bool	checkIfIndexInRange (const Index &index, const Size &bufferSize)
bool	checkIfPositionWithinMap (const Position &position, const Length &mapLength, const Position &mapPosition)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3i &colorVector)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3f &colorVector)
bool	colorValueToVector (const float &colorValue, Eigen::Vector3f &colorVector)
bool	colorVectorToValue (const Eigen::Vector3i &colorVector, unsigned long &colorValue)
void	colorVectorToValue (const Eigen::Vector3i &colorVector, float &colorValue)
void	colorVectorToValue (const Eigen::Vector3f &colorVector, float &colorValue)
bool	compareRelative (double a, double b, double percentTolerance, double *percentError=NULL)
template<typename M1 , typename M2 , typename T >
void	expectNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
Index	getBufferIndexFromIndex (const Index &index, const Size &bufferSize, const Index &bufferStartIndex)
const Eigen::Matrix2i	getBufferOrderToMapFrameAlignment ()
bool	getBufferRegionsForSubmap (std::vector< BufferRegion > &submapBufferRegions, const Index &submapIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
Index	getIndexFromBufferIndex (const Index &bufferIndex, const Size &bufferSize, const Index &bufferStartIndex)
Index	getIndexFromLinearIndex (const size_t linearIndex, const Size &bufferSize, const bool rowMajor=false)
bool	getIndexFromPosition (Index &index, const Position &position, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	getIndexShiftFromPositionShift (Index &indexShift, const Vector &positionShift, const double &resolution)
void	getIndicesForRegion (const Index &regionIndex, const Size &regionSize, std::vector< Index > indices)
void	getIndicesForRegions (const std::vector< Index > &regionIndeces, const Size &regionSizes, std::vector< Index > indices)
size_t	getLinearIndexFromIndex (const Index &index, const Size &bufferSize, const bool rowMajor=false)
bool	getPositionFromIndex (Position &position, const Index &index, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
void	getPositionOfDataStructureOrigin (const Position &position, const Length &mapLength, Position &positionOfOrigin)
bool	getPositionShiftFromIndexShift (Vector &positionShift, const Index &indexShift, const double &resolution)
bool	getSubmapInformation (Index &submapTopLeftIndex, Size &submapBufferSize, Position &submapPosition, Length &submapLength, Index &requestedIndexInSubmap, const Position &requestedSubmapPosition, const Length &requestedSubmapLength, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
Size	getSubmapSizeFromCornerIndeces (const Index &topLeftIndex, const Index &bottomRightIndex, const Size &bufferSize, const Index &bufferStartIndex)
bool	incrementIndex (Index &index, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	incrementIndexForSubmap (Index &submapIndex, Index &index, const Index &submapTopLeftIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
template<int N>
Eigen::Matrix< double, N, N >	randomCovariance ()
Eigen::MatrixXd	randomCovarianceXd (int N)
void	wrapIndexToRange (Index &index, const Size &bufferSize)
void	wrapIndexToRange (int &index, const int &bufferSize)

Typedef Documentation

typedef Matrix::Scalar grid_map::DataType

Definition at line 17 of file TypeDefs.hpp.

typedef Eigen::Array2i grid_map::Index

Definition at line 22 of file TypeDefs.hpp.

typedef Eigen::Array2d grid_map::Length

Definition at line 24 of file TypeDefs.hpp.

typedef Eigen::MatrixXf grid_map::Matrix

Definition at line 16 of file TypeDefs.hpp.

typedef Eigen::Vector2d grid_map::Position

Definition at line 18 of file TypeDefs.hpp.

typedef Eigen::Vector3d grid_map::Position3

Definition at line 20 of file TypeDefs.hpp.

typedef Eigen::Array2i grid_map::Size

Definition at line 23 of file TypeDefs.hpp.

typedef uint64_t grid_map::Time

Definition at line 25 of file TypeDefs.hpp.

typedef Eigen::Vector2d grid_map::Vector

Definition at line 19 of file TypeDefs.hpp.

typedef Eigen::Vector3d grid_map::Vector3

Definition at line 21 of file TypeDefs.hpp.

Enumeration Type Documentation

enum grid_map::InterpolationMethods

strong

Enumerator
INTER_NEAREST
INTER_LINEAR

Definition at line 27 of file TypeDefs.hpp.

Function Documentation

template<typename M1 , typename M2 >

void grid_map::assertEqual	(	const M1 &	A,
		const M2 &	B,
		std::string const &	message = ""
	)

Definition at line 33 of file gtest_eigen.hpp.

template<typename M1 >

void grid_map::assertFinite	(	const M1 &	A,
		std::string const &	message = ""
	)

Definition at line 96 of file gtest_eigen.hpp.

template<typename M1 , typename M2 , typename T >

void grid_map::assertNear	(	const M1 &	A,
		const M2 &	B,
		T	tolerance,
		std::string const &	message = ""
	)

Definition at line 53 of file gtest_eigen.hpp.

void grid_map::boundIndexToRange	(	Index &	index,
		const Size &	bufferSize
	)

Bounds an index that runs out of the range of the buffer. This means that an index that overflows is stopped at the last valid index. This is the 2d version of boundIndexToRange(int&, const int&).

Parameters

Definition at line 189 of file GridMapMath.cpp.

void grid_map::boundIndexToRange	(	int &	index,
		const int &	bufferSize
	)

Bounds an index that runs out of the range of the buffer. This means that an index that overflows is stopped at the last valid index.

Parameters

Definition at line 196 of file GridMapMath.cpp.

void grid_map::boundPositionToRange	(	Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition
	)

Bound (cuts off) the position to lie inside the map. This means that an index that overflows is stopped at the last valid index.

Parameters

Definition at line 215 of file GridMapMath.cpp.

bool grid_map::checkIfIndexInRange	(	const Index &	index,
		const Size &	bufferSize
	)

Checks if index is within range of the buffer.

Parameters

[in]	index	to check.
[in]	bufferSize	the size of the buffer.

Returns

true if index is within, and false if index is outside of the buffer.

Definition at line 180 of file GridMapMath.cpp.

bool grid_map::checkIfPositionWithinMap	(	const Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition
	)

Checks if position is within the map boundaries.

Parameters

[in]	position	the position which is to be checked.
[in]	mapLength	the length of the map.
[in]	mapPosition	the position of the map.

Returns

true if position is within map, false otherwise.

Definition at line 133 of file GridMapMath.cpp.

bool grid_map::colorValueToVector	(	const unsigned long &	colorValue,
		Eigen::Vector3i &	colorVector
	)

Transforms an int color value (concatenated RGB values) to an int color vector (RGB from 0-255).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0-255.

Returns

true if successful.

Definition at line 511 of file GridMapMath.cpp.

bool grid_map::colorValueToVector	(	const unsigned long &	colorValue,
		Eigen::Vector3f &	colorVector
	)

Transforms an int color value (concatenated RGB values) to a float color vector (RGB from 0.0-1.0).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0.0-1.0.

Returns

true if successful.

Definition at line 519 of file GridMapMath.cpp.

bool grid_map::colorValueToVector	(	const float &	colorValue,
		Eigen::Vector3f &	colorVector
	)

Transforms a float color value (concatenated 3 single-byte value) to a float color vector (RGB from 0.0-1.0).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0.0-1.0.

Returns

true if successful.

Definition at line 527 of file GridMapMath.cpp.

bool grid_map::colorVectorToValue	(	const Eigen::Vector3i &	colorVector,
		unsigned long &	colorValue
	)

Transforms an int color vector (RGB from 0-255) to a concatenated RGB int color.

Parameters

[in]	colorVector	the color vector in RGB from 0-255.
[out]	colorValue	the concatenated RGB color value.

Returns

true if successful.

Definition at line 535 of file GridMapMath.cpp.

void grid_map::colorVectorToValue	(	const Eigen::Vector3i &	colorVector,
		float &	colorValue
	)

Transforms a color vector (RGB from 0-255) to a concatenated 3 single-byte float value.

Parameters

[in]	colorVector	the color vector in RGB from 0-255.
[out]	colorValue	the concatenated RGB color value.

Definition at line 541 of file GridMapMath.cpp.

void grid_map::colorVectorToValue	(	const Eigen::Vector3f &	colorVector,
		float &	colorValue
	)

Transforms a color vector (RGB from 0.0-1.0) to a concatenated 3 single-byte float value.

Parameters

[in]	colorVector	the color vector in RGB from 0.0-1.0.
[out]	colorValue	the concatenated RGB color value.

Definition at line 548 of file GridMapMath.cpp.

bool grid_map::compareRelative ( double  a, double  b, double  percentTolerance, double *  percentError = NULL  )

inline

Definition at line 107 of file gtest_eigen.hpp.

template<typename M1 , typename M2 , typename T >

void grid_map::expectNear	(	const M1 &	A,
		const M2 &	B,
		T	tolerance,
		std::string const &	message = ""
	)

Definition at line 76 of file gtest_eigen.hpp.

Index grid_map::getBufferIndexFromIndex	(	const Index &	index,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Retrieve the index of the buffer from a unwrapped index (reverse from function above).

Parameters

index	the unwrapped index.
bufferSize	the map buffer size.
bufferStartIndex	the map buffer start index.

Returns

the buffer index.

Definition at line 475 of file GridMapMath.cpp.

const Eigen::Matrix2i grid_map::getBufferOrderToMapFrameAlignment

(

)

Provides the alignment transformation from the buffer order (outer/inner storage) and the map frame (x/y-coordinate).

Returns

the alignment transformation.

Definition at line 240 of file GridMapMath.cpp.

bool grid_map::getBufferRegionsForSubmap	(	std::vector< BufferRegion > &	submapBufferRegions,
		const Index &	submapIndex,
		const Size &	submapBufferSize,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Computes the regions in the circular buffer that make up the data for a requested submap.

Parameters

[out]	submapBufferRegions	the list of buffer regions that make up the submap.
[in]	submapIndex	the index (top-left) for the requested submap.
[in]	submapBufferSize	the size of the requested submap.
[in]	bufferSize	the buffer size of the map.
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if requested submap is not fully contained in the map.

Definition at line 305 of file GridMapMath.cpp.

Index grid_map::getIndexFromBufferIndex	(	const Index &	bufferIndex,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Retrieve the index as unwrapped index, i.e., as the corresponding index of a grid map with no circular buffer offset.

Parameters

bufferIndex	the index in the circular buffer.
bufferSize	the map buffer size.
bufferStartIndex	the map buffer start index.

Returns

the unwrapped index.

Definition at line 466 of file GridMapMath.cpp.

Index grid_map::getIndexFromLinearIndex	(	const size_t	linearIndex,
		const Size &	bufferSize,
		const bool	rowMajor = false
	)

Returns the regular index (2-dim.) corresponding to the linear index (1-dim.) for a given buffer size.

Parameters

[in]	linearIndex	the he linear 1d index.
[in]	bufferSize	the map buffer size.
[in]	(optional)	rowMajor if the linear index is generated for row-major format.

Returns

the regular 2d index.

Definition at line 490 of file GridMapMath.cpp.

bool grid_map::getIndexFromPosition	(	Index &	index,
		const Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Gets the index of the cell which contains a position in the map frame.

Parameters

[out]	index	of the cell.
[in]	position	the position in the map frame.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the size of the buffer (optional).
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if position outside of map.

Definition at line 117 of file GridMapMath.cpp.

bool grid_map::getIndexShiftFromPositionShift	(	Index &	indexShift,
		const Vector &	positionShift,
		const double &	resolution
	)

Computes how many cells/indeces the map is moved based on a position shift in the grid map frame. Use this function if you are moving the grid map and want to ensure that the cells match before and after.

Parameters

[out]	indexShift	the corresponding shift of the indices.
[in]	positionShift	the desired position shift.
[in]	resolution	the resolution of the map.

Returns

true if successful.

Definition at line 157 of file GridMapMath.cpp.

void grid_map::getIndicesForRegion	(	const Index &	regionIndex,
		const Size &	regionSize,
		std::vector< Index >	indices
	)

Generates a list of indices for a region in the map.

Parameters

regionIndex	the region top-left index.
regionSize	the region size.
indices	the list of indices of the region.

Definition at line 496 of file GridMapMath.cpp.

void grid_map::getIndicesForRegions	(	const std::vector< Index > &	regionIndeces,
		const Size &	regionSizes,
		std::vector< Index >	indices
	)

Generates a list of indices for multiple regions in the map. This method makes sure every index is only once contained in the list.

Parameters

regionIndeces	the regions' top-left index.
regionSizes	the regions' sizes.
indices	the list of indices of the regions.

Definition at line 506 of file GridMapMath.cpp.

size_t grid_map::getLinearIndexFromIndex	(	const Index &	index,
		const Size &	bufferSize,
		const bool	rowMajor = false
	)

Returns the linear index (1-dim.) corresponding to the regular index (2-dim.) for either row- or column-major format. Note: Eigen is defaulting to column-major format.

Parameters

[in]	index	the regular 2d index.
[in]	bufferSize	the map buffer size.
[in]	(optional)	rowMajor if the linear index is generated for row-major format.

Returns

the linear 1d index.

Definition at line 484 of file GridMapMath.cpp.

bool grid_map::getPositionFromIndex	(	Position &	position,
		const Index &	index,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Gets the position of a cell specified by its index in the map frame.

Parameters

[out]	position	the position of the center of the cell in the map frame.
[in]	index	of the cell.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the size of the buffer (optional).
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if index not within range of buffer.

Definition at line 102 of file GridMapMath.cpp.

void grid_map::getPositionOfDataStructureOrigin	(	const Position &	position,
		const Length &	mapLength,
		Position &	positionOfOrigin
	)

Gets the position of the data structure origin.

Parameters

[in]	position	the position of the map.
[in]	mapLength	the map length.
[out]	positionOfOrigin	the position of the data structure origin.

Definition at line 148 of file GridMapMath.cpp.

bool grid_map::getPositionShiftFromIndexShift	(	Vector &	positionShift,
		const Index &	indexShift,
		const double &	resolution
	)

Computes the corresponding position shift from a index shift. Use this function if you are moving the grid map and want to ensure that the cells match before and after.

Parameters

[out]	positionShift	the corresponding shift in position in the grid map frame.
[in]	indexShift	the desired shift of the indeces.
[in]	resolution	the resolution of the map.

Returns

true if successful.

Definition at line 172 of file GridMapMath.cpp.

bool grid_map::getSubmapInformation	(	Index &	submapTopLeftIndex,
		Size &	submapBufferSize,
		Position &	submapPosition,
		Length &	submapLength,
		Index &	requestedIndexInSubmap,
		const Position &	requestedSubmapPosition,
		const Length &	requestedSubmapLength,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Given a map and a desired submap (defined by position and size), this function computes various information about the submap. The returned submap might be smaller than the requested size as it respects the boundaries of the map.

Parameters

[out]	submapTopLeftIndex	the top left index of the returned submap.
[out]	submapBufferSize	the buffer size of the returned submap.
[out]	submapPosition	the position of the submap (center) in the map frame.
[out]	submapLength	the length of the submap.
[out]	requestedIndexInSubmap	the index in the submap that corresponds to the requested position of the submap.
[in]	requestedSubmapPosition	the requested submap position (center) in the map frame.
[in]	requestedSubmapLength	the requested submap length.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the buffer size of the map.
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful.

Definition at line 245 of file GridMapMath.cpp.

Size grid_map::getSubmapSizeFromCornerIndeces	(	const Index &	topLeftIndex,
		const Index &	bottomRightIndex,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Computes the buffer size of a submap given a top left and a lower right index.

Parameters

topLeftIndex	the top left index in the map.
bottomRightIndex	the bottom right index in the map.

Returns

buffer size for the submap.

Definition at line 297 of file GridMapMath.cpp.

bool grid_map::incrementIndex	(	Index &	index,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Increases the index by one to iterate through the map. Increments either to the neighboring index to the right or to the start of the lower row. Returns false if end of iterations are reached.

Parameters

Definition at line 413 of file GridMapMath.cpp.

bool grid_map::incrementIndexForSubmap	(	Index &	submapIndex,
		Index &	index,
		const Index &	submapTopLeftIndex,
		const Size &	submapBufferSize,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Increases the index by one to iterate through the cells of a submap. Increments either to the neighboring index to the right or to the start of the lower row. Returns false if end of iterations are reached.

Note: This function does not check if submap actually fits to the map. This needs to be checked before separately.

Parameters

Definition at line 435 of file GridMapMath.cpp.

template<int N>

Eigen::Matrix<double,N,N> grid_map::randomCovariance

(

)

Definition at line 18 of file gtest_eigen.hpp.

Eigen::MatrixXd grid_map::randomCovarianceXd ( int  N )

inline

Definition at line 25 of file gtest_eigen.hpp.

void grid_map::wrapIndexToRange	(	Index &	index,
		const Size &	bufferSize
	)

Wraps an index that runs out of the range of the buffer back into allowed the region. This means that an index that overflows is reset to zero. This is the 2d version of wrapIndexToRange(int&, const int&).

Parameters

Definition at line 202 of file GridMapMath.cpp.

void grid_map::wrapIndexToRange	(	int &	index,
		const int &	bufferSize
	)

Wraps an index that runs out of the range of the buffer back into allowed the region. This means that an index that overflows is reset to zero.

Parameters

Definition at line 209 of file GridMapMath.cpp.