Namespaces
	bicubic

	bicubic_conv

	internal

	signed_distance_field

Classes
class	BufferRegion

class	CircleIterator

struct	Clamp

union	Color

class	EllipseIterator

class	GridMap

class	GridMapCvConverter

class	GridMapCvProcessing

class	GridMapIterator

class	GridMapRosConverter

class	InpaintFilter

class	LineIterator

class	Polygon

class	PolygonIterator

class	PolygonRosConverter

class	SignedDistanceField

class	SlidingWindowIterator

class	SpiralIterator

class	SubmapGeometry

class	SubmapIterator

Typedefs
typedef Matrix::Scalar	DataType

typedef Eigen::Matrix4d	FunctionValueMatrix

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, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }

enum	StorageIndices { StorageIndices::Column, StorageIndices::Row }

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

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

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

unsigned int	bindIndexToRange (unsigned int idReq, unsigned int nElem)

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=nullptr)

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)

Eigen::Matrix2i	getBufferOrderToMapFrameAlignment ()

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

template<typename MultiArrayMessageType_ >
unsigned int	getCols (const MultiArrayMessageType_ &message)

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

Index	getIndexFromLinearIndex (size_t linearIndex, const Size &bufferSize, 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)

double	getLayerValue (const Matrix &layerMat, unsigned int rowReq, unsigned int colReq)

double	getLayerValue (const Matrix &layerMat, int rowReq, int colReq)

size_t	getLinearIndexFromIndex (const Index &index, const Size &bufferSize, 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)

template<typename MultiArrayMessageType_ >
unsigned int	getRows (const MultiArrayMessageType_ &message)

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	getSubmapSizeFromCornerIndices (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<typename MultiArrayMessageType_ >
bool	isRowMajor (const MultiArrayMessageType_ &message)

template<typename EigenType_ , typename MultiArrayMessageType_ >
bool	matrixEigenCopyToMultiArrayMessage (const EigenType_ &e, MultiArrayMessageType_ &m)

template<typename EigenType_ , typename MultiArrayMessageType_ >
bool	multiArrayMessageCopyToMatrixEigen (const MultiArrayMessageType_ &m, EigenType_ &e)

template<typename EigenType_ , typename MultiArrayMessageType_ >
bool	multiArrayMessageMapToMatrixEigen (MultiArrayMessageType_ &m, EigenType_ &e)

int	nDimensions ()

Eigen::Matrix< double, N, N >	randomCovariance ()

Eigen::MatrixXd	randomCovarianceXd (int N)

	TEST (GridMap, ClipToMap)

	TEST (IndexFromPosition, EdgeCases)

	TEST (IndexFromPosition, CircularBuffer)

	TEST (LineIterator, StartAndEndOutsideMapWithoutIntersectingMap)

	TEST (GridMap, Transform)

	TEST (getSubmapInformation, Zero)

	TEST (getSubmapInformation, CircularBuffer)

	TEST (LineIterator, StartAndEndOutsideMovedMap)

	TEST (getSubmapInformation, Debug2)

	TEST (PositionFromIndex, CircularBuffer)

	TEST (checkIncrementIndexForSubmap, CircularBuffer)

	TEST (GridMap, CopyAssign)

	TEST (SubmapIterator, Simple)

	TEST (PositionFromIndex, Simple)

	TEST (LineIterator, StartOutsideMap)

	TEST (GridMap, CopyConstructor)

	TEST (getBufferRegionsForSubmap, Simple)

	TEST (wrapIndexToRange, All)

	TEST (GridMap, Move)

	TEST (getPositionShiftFromIndexShift, All)

	TEST (getSubmapInformation, Simple)

	TEST (AddDataFrom, ExtendMapNotAligned)

	TEST (checkIncrementIndexForSubmap, Simple)

	TEST (checkIncrementIndex, CircularBuffer)

	TEST (LineIterator, StartAndEndOutsideMap)

	TEST (ValueAtPosition, LinearInterpolated)

	TEST (ValueAtPosition, NearestNeighbor)

	TEST (LineIterator, MovedMap)

	TEST (checkIncrementIndex, Simple)

	TEST (getIndexShiftFromPositionShift, All)

	TEST (getSubmapInformation, ExceedingBoundaries)

	TEST (LineIterator, EndOutsideMap)

	TEST (IndexFromPosition, Simple)

	TEST (getBufferRegionsForSubmap, CircularBuffer)

	TEST (getBufferRegionsForSubmap, Trivial)

	TEST (SubmapIterator, CircularBuffer)

	TEST (getIndexFromLinearIndex, Simple)

	TEST (boundPositionToRange, Simple)

	TEST (AddDataFrom, CopyData)

	TEST (boundIndexToRange, All)

	TEST (boundPositionToRange, Position)

	TEST (SubmapIterator, InterleavedExecutionWithMove)

	TEST (getSubmapInformation, Debug1)

	TEST (checkIfIndexInRange, All)

	TEST (GridMap, ClipToMap2)

	TEST (AddDataFrom, ExtendMapAligned)

	TEST (checkIfPositionWithinMap, Outside)

	TEST (checkIfPositionWithinMap, EdgeCases)

	TEST (checkIfPositionWithinMap, Inside)

void	wrapIndexToRange (int &index, int bufferSize)

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

Variables
std::map< StorageIndices, std::string >	storageIndexNames
	Holds the names of the storage indeces. More...

Enumeration Type Documentation

◆ StorageIndices

enum grid_map::StorageIndices

strong

Enumerator
Column
Row

Definition at line 28 of file GridMapMsgHelpers.hpp.

Function Documentation

◆ getCols()

template<typename MultiArrayMessageType_ >

unsigned int grid_map::getCols ( const MultiArrayMessageType_ & message )

Returns the number of columns of the message data.

Template Parameters

MultiArrayMessageType_ a std_msgs::xxxMultiArray message (e.g. std_msgs::Float32MultiArray).

Parameters

[in] message the message data.

Returns: the number of columns.

Definition at line 58 of file GridMapMsgHelpers.hpp.

◆ getRows()

template<typename MultiArrayMessageType_ >

unsigned int grid_map::getRows ( const MultiArrayMessageType_ & message )

Returns the number of rows of the message data.

Template Parameters

MultiArrayMessageType_ a std_msgs::xxxMultiArray message (e.g. std_msgs::Float32MultiArray).

Parameters

[in] message the message data.

Returns: the number of rows.

Definition at line 71 of file GridMapMsgHelpers.hpp.

◆ isRowMajor()

template<typename MultiArrayMessageType_ >

bool grid_map::isRowMajor ( const MultiArrayMessageType_ & message )

Checks if message data is stored in row-major format.

Template Parameters

MultiArrayMessageType_ a std_msgs::xxxMultiArray message (e.g. std_msgs::Float32MultiArray).

Parameters

[in] message the message data.

Returns: true if is in row-major format, false if is in column-major format.

Definition at line 43 of file GridMapMsgHelpers.hpp.

◆ matrixEigenCopyToMultiArrayMessage()

template<typename EigenType_ , typename MultiArrayMessageType_ >

bool grid_map::matrixEigenCopyToMultiArrayMessage	(	const EigenType_ &	e,
		MultiArrayMessageType_ &	m
	)

Copies an Eigen matrix into a ROS MultiArray message. Both column- and row-major matrices are allowed, and the type will be marked in the layout labels.

Template Parameters

MultiArrayMessageType_	a std_msgs::xxxMultiArray message (e.g. std_msgs::Float32MultiArray).
EigenType_	an Eigen matrix with matching Scalar type as that of the multi-array message.

Parameters

[in]	e	the Eigen matrix to be converted.
[out]	m	the ROS message to which the data will be copied.

Returns: true if successful.

Definition at line 88 of file GridMapMsgHelpers.hpp.

◆ multiArrayMessageCopyToMatrixEigen()

template<typename EigenType_ , typename MultiArrayMessageType_ >

bool grid_map::multiArrayMessageCopyToMatrixEigen	(	const MultiArrayMessageType_ &	m,
		EigenType_ &	e
	)

Copies a ROS xxxMultiArray message into an Eigen matrix.

Template Parameters

MultiArrayMessageType_	a std_msgs::xxxMultiArray message (e.g. std_msgs::Float32MultiArray)
EigenType_	an Eigen matrix with matching Scalar type as that of the multi-array message.

Parameters

[in]	m	the ROS message to which the data will be copied.
[out]	e	the Eigen matrix to be converted.

Returns: true if successful.

Definition at line 117 of file GridMapMsgHelpers.hpp.

◆ multiArrayMessageMapToMatrixEigen()

template<typename EigenType_ , typename MultiArrayMessageType_ >

bool grid_map::multiArrayMessageMapToMatrixEigen	(	MultiArrayMessageType_ &	m,
		EigenType_ &	e
	)

Maps a ROS xxxMultiArray message into an Eigen matrix. Both column- and row-major message types are allowed.

Parameters

[in]	m	the ROS message to be converted.
[out]	e	the Eigen matrix to which the data will be mapped.

Returns: true if successful.

Definition at line 138 of file GridMapMsgHelpers.hpp.

◆ nDimensions()

int grid_map::nDimensions ( )

Returns the number of dimensions of the grid map.

Returns: number of dimensions.

Definition at line 16 of file GridMapMsgHelpers.cpp.

Variable Documentation

◆ storageIndexNames

std::map< StorageIndices, std::string > grid_map::storageIndexNames

Initial value:

= boost::assign::map_list_of
    (StorageIndices::Column,  "column_index")
    (StorageIndices::Row, "row_index")

Holds the names of the storage indeces.

Definition at line 21 of file GridMapMsgHelpers.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ StorageIndices

Function Documentation

◆ getCols()

◆ getRows()

◆ isRowMajor()

◆ matrixEigenCopyToMultiArrayMessage()

◆ multiArrayMessageCopyToMatrixEigen()

◆ multiArrayMessageMapToMatrixEigen()

◆ nDimensions()

Variable Documentation

◆ storageIndexNames