beluga_ros.conversion_utils.NDTMap Class Reference

Public Member Functions
None	__init__ (self, float resolution)
def	add_distribution (self, DiscreteCell cell, NormalDistribution ndt)
def	from_hdf5 (cls, Path hdf5_file)
bool	is_close (self, "NDTMap" other, float abs_tol=1e-8)
plt.figure	plot (self, bool show=False)
def	to_hdf5 (self, Path output_file_path)

Private Member Functions
def	_get_plot_bounds (self)

Private Attributes
	_resolution

Detailed Description

Definition at line 62 of file conversion_utils.py.

Constructor & Destructor Documentation

__init__()

None beluga_ros.conversion_utils.NDTMap.__init__	(		self,
		float	resolution
	)

Create a new NDT map with cell size of 'resolution'.

Definition at line 63 of file conversion_utils.py.

Member Function Documentation

_get_plot_bounds()

def beluga_ros.conversion_utils.NDTMap._get_plot_bounds (   self )

private

Definition at line 72 of file conversion_utils.py.

add_distribution()

def beluga_ros.conversion_utils.NDTMap.add_distribution	(		self,
		DiscreteCell	cell,
		NormalDistribution	ndt
	)

Add a new cell with its distribution.

Definition at line 68 of file conversion_utils.py.

from_hdf5()

def beluga_ros.conversion_utils.NDTMap.from_hdf5	(		cls,
		Path	hdf5_file
	)

Create an NDTMap instance from a path to a hdf5 file.

See 'to_hdf5' docstring for details on the hdf5 format.

Definition at line 170 of file conversion_utils.py.

is_close()

bool beluga_ros.conversion_utils.NDTMap.is_close	(		self,
		"NDTMap"	other,
		float	abs_tol = 1e-8
	)

Equality with tolerance between two NDT maps.

Definition at line 100 of file conversion_utils.py.

plot()

plt.figure beluga_ros.conversion_utils.NDTMap.plot	(		self,
		bool	show = False
	)

Plot the map using contour plots into the current figure and returns it.

Optionally show the plot based on the 'show' parameter.

Definition at line 116 of file conversion_utils.py.

to_hdf5()

def beluga_ros.conversion_utils.NDTMap.to_hdf5	(		self,
		Path	output_file_path
	)

Serialize the NDT map into an HDF5 format.

See https://docs.hdfgroup.org/hdf5/develop/_intro_h_d_f5.html for details on the format.
It'll create 4 datasets:
    - "resolution": () resolution for the discrete grid (cells are resolution x
      resolution m^2 squares).
    - "cells": (NUM_CELLS, 2) that contains the cell coordinates.
    - "means": (NUM_CELLS, 2) that contains the 2d mean of the normal distribution
      of the cell.
    - "covariances": (NUM_CELLS, 2, 2) Contains the covariance for each cell.

Definition at line 138 of file conversion_utils.py.

Member Data Documentation

_resolution

beluga_ros.conversion_utils.NDTMap._resolution

private

Definition at line 65 of file conversion_utils.py.

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

• conversion_utils.py