#include <Karto.h>

Inheritance diagram for karto::OccupancyGrid:

Public Member Functions
OccupancyGrid *	Clone () const

virtual kt_bool	IsFree (const Vector2< kt_int32s > &rPose) const

	OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2< kt_double > &rOffset, kt_double resolution)

virtual kt_double	RayCast (const Pose2 &rPose2, kt_double maxRange) const

void	SetMinPassThrough (kt_int32u count)

void	SetOccupancyThreshold (kt_double thresh)

virtual	~OccupancyGrid ()

Public Member Functions inherited from karto::Grid< kt_int8u >
void	Clear ()

Grid *	Clone ()

BoundingBox2	GetBoundingBox () const

CoordinateConverter *	GetCoordinateConverter () const

kt_int8u *	GetDataPointer ()

kt_int8u *	GetDataPointer () const

kt_int8u *	GetDataPointer (const Vector2< kt_int32s > &rGrid)

kt_int8u *	GetDataPointer (const Vector2< kt_int32s > &rGrid) const

kt_int32s	GetDataSize () const

kt_int32s	GetHeight () const

kt_double	GetResolution () const

const Size2< kt_int32s >	GetSize () const

kt_int8u	GetValue (const Vector2< kt_int32s > &rGrid) const

kt_int32s	GetWidth () const

kt_int32s	GetWidthStep () const

	Grid ()

virtual kt_int32s	GridIndex (const Vector2< kt_int32s > &rGrid, kt_bool boundaryCheck=true) const

Vector2< kt_double >	GridToWorld (const Vector2< kt_int32s > &rGrid, kt_bool flipY=false) const

Vector2< kt_int32s >	IndexToGrid (kt_int32s index) const

kt_bool	IsValidGridIndex (const Vector2< kt_int32s > &rGrid) const

void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)

Vector2< kt_int32s >	WorldToGrid (const Vector2< kt_double > &rWorld, kt_bool flipY=false) const

virtual	~Grid ()

Static Public Member Functions
static OccupancyGrid *	CreateFromScans (const LocalizedRangeScanVector &rScans, kt_double resolution)

Static Public Member Functions inherited from karto::Grid< kt_int8u >
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)

Protected Member Functions
virtual kt_bool	AddScan (LocalizedRangeScan *pScan, kt_bool doUpdate=false)

virtual void	CreateFromScans (const LocalizedRangeScanVector &rScans)

virtual Grid< kt_int32u > *	GetCellHitsCounts ()

virtual Grid< kt_int32u > *	GetCellPassCounts ()

virtual kt_bool	RayTrace (const Vector2< kt_double > &rWorldFrom, const Vector2< kt_double > &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)

virtual void	Resize (kt_int32s width, kt_int32s height)

virtual void	Update ()

virtual void	UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)

Protected Member Functions inherited from karto::Grid< kt_int8u >
	Grid (kt_int32s width, kt_int32s height)

Static Protected Member Functions
static void	ComputeDimensions (const LocalizedRangeScanVector &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2< kt_double > &rOffset)

Protected Attributes
Grid< kt_int32u > *	m_pCellHitsCnt

Grid< kt_int32u > *	m_pCellPassCnt

Private Member Functions
	OccupancyGrid (const OccupancyGrid &)

const OccupancyGrid &	operator= (const OccupancyGrid &)

Private Attributes
CellUpdater *	m_pCellUpdater

Parameter< kt_int32u > *	m_pMinPassThrough

Parameter< kt_double > *	m_pOccupancyThreshold

Friends
class	CellUpdater

class	IncrementalOccupancyGrid

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 6008 of file Karto.h.

Constructor & Destructor Documentation

◆ OccupancyGrid() [1/2]

karto::OccupancyGrid::OccupancyGrid	(	kt_int32s	width,
		kt_int32s	height,
		const Vector2< kt_double > &	rOffset,
		kt_double	resolution
	)

inline

Constructs an occupancy grid of given size

Parameters

width
height
rOffset
resolution

Definition at line 6021 of file Karto.h.

◆ ~OccupancyGrid()

virtual karto::OccupancyGrid::~OccupancyGrid ( )

inlinevirtual

Destructor

Definition at line 6044 of file Karto.h.

◆ OccupancyGrid() [2/2]

karto::OccupancyGrid::OccupancyGrid ( const OccupancyGrid & )

private

Restrict the copy constructor

Member Function Documentation

◆ AddScan()

virtual kt_bool karto::OccupancyGrid::AddScan	(	LocalizedRangeScan *	pScan,
		kt_bool	doUpdate = `false`
	)

inlineprotectedvirtual

Adds the scan's information to this grid's counters (optionally update the grid's cells' occupancy status)

Parameters

pScan
doUpdate	whether to update the grid's cell's occupancy status

Returns: returns false if an endpoint fell off the grid, otherwise true

Definition at line 6265 of file Karto.h.

◆ Clone()

OccupancyGrid* karto::OccupancyGrid::Clone ( ) const

inline

Make a clone

Returns: occupancy grid clone

Definition at line 6081 of file Karto.h.

◆ ComputeDimensions()

static void karto::OccupancyGrid::ComputeDimensions	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution,
		kt_int32s &	rWidth,
		kt_int32s &	rHeight,
		Vector2< kt_double > &	rOffset
	)

inlinestaticprotected

Calculate grid dimensions from localized range scans

Parameters

rScans
resolution
rWidth
rHeight
rOffset

Definition at line 6206 of file Karto.h.

◆ CreateFromScans() [1/2]

virtual void karto::OccupancyGrid::CreateFromScans ( const LocalizedRangeScanVector & rScans )

inlineprotectedvirtual

Create grid using scans

Parameters

rScans

Definition at line 6236 of file Karto.h.

◆ CreateFromScans() [2/2]

static OccupancyGrid* karto::OccupancyGrid::CreateFromScans	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution
	)

inlinestatic

Create an occupancy grid from the given scans using the given resolution

Parameters

rScans
resolution

Definition at line 6061 of file Karto.h.

◆ GetCellHitsCounts()

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellHitsCounts ( )

inlineprotectedvirtual

Get cell hit grid

Returns: Grid<kt_int32u>*

Definition at line 6183 of file Karto.h.

◆ GetCellPassCounts()

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellPassCounts ( )

inlineprotectedvirtual

Get cell pass grid

Returns: Grid<kt_int32u>*

Definition at line 6192 of file Karto.h.

◆ IsFree()

virtual kt_bool karto::OccupancyGrid::IsFree ( const Vector2< kt_int32s > & rPose ) const

inlinevirtual

Check if grid point is free

Parameters

rPose

Returns: whether the cell at the given point is free space

Definition at line 6101 of file Karto.h.

◆ operator=()

const OccupancyGrid& karto::OccupancyGrid::operator= ( const OccupancyGrid & )

private

Restrict the assignment operator

◆ RayCast()

virtual kt_double karto::OccupancyGrid::RayCast	(	const Pose2 &	rPose2,
		kt_double	maxRange
	)		const

inlinevirtual

Casts a ray from the given point (up to the given max range) and returns the distance to the closest obstacle

Parameters

rPose2
maxRange

Returns: distance to closest obstacle

Definition at line 6119 of file Karto.h.

◆ RayTrace()

virtual kt_bool karto::OccupancyGrid::RayTrace	(	const Vector2< kt_double > &	rWorldFrom,
		const Vector2< kt_double > &	rWorldTo,
		kt_bool	isEndPointValid,
		kt_bool	doUpdate = `false`
	)

inlineprotectedvirtual

Traces a beam from the start position to the end position marking the bookkeeping arrays accordingly.

Parameters

rWorldFrom	start position of beam
rWorldTo	end position of beam
isEndPointValid	is the reading within the range threshold?
doUpdate	whether to update the cells' occupancy status immediately

Returns: returns false if an endpoint fell off the grid, otherwise true

Definition at line 6323 of file Karto.h.

◆ Resize()

virtual void karto::OccupancyGrid::Resize	(	kt_int32s	width,
		kt_int32s	height
	)

inlineprotectedvirtual

Resizes the grid (deletes all old data)

Parameters

width
height

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 6410 of file Karto.h.

◆ SetMinPassThrough()

void karto::OccupancyGrid::SetMinPassThrough ( kt_int32u count )

inline

Sets the minimum number of beams that must pass through a cell before it will be considered to be occupied or unoccupied. This prevents stray beams from messing up the map.

Definition at line 6164 of file Karto.h.

◆ SetOccupancyThreshold()

void karto::OccupancyGrid::SetOccupancyThreshold ( kt_double thresh )

inline

Sets the minimum ratio of beams hitting cell to beams passing through cell for cell to be marked as occupied.

Definition at line 6173 of file Karto.h.

◆ Update()

virtual void karto::OccupancyGrid::Update ( )

inlineprotectedvirtual

Update the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt

Definition at line 6386 of file Karto.h.

◆ UpdateCell()

virtual void karto::OccupancyGrid::UpdateCell	(	kt_int8u *	pCell,
		kt_int32u	cellPassCnt,
		kt_int32u	cellHitCnt
	)

inlineprotectedvirtual

Updates a single cell's value based on the given counters

Parameters

pCell
cellPassCnt
cellHitCnt

Definition at line 6366 of file Karto.h.

Friends And Related Function Documentation

◆ CellUpdater

friend class CellUpdater

friend

Definition at line 6010 of file Karto.h.

◆ IncrementalOccupancyGrid

friend class IncrementalOccupancyGrid

friend

Definition at line 6011 of file Karto.h.

Member Data Documentation

◆ m_pCellHitsCnt

Grid<kt_int32u>* karto::OccupancyGrid::m_pCellHitsCnt

protected

Counters of number of times a beam ended at a cell

Definition at line 6426 of file Karto.h.

◆ m_pCellPassCnt

Grid<kt_int32u>* karto::OccupancyGrid::m_pCellPassCnt

protected

Counters of number of times a beam passed through a cell

Definition at line 6421 of file Karto.h.

◆ m_pCellUpdater

CellUpdater* karto::OccupancyGrid::m_pCellUpdater

private

Definition at line 6440 of file Karto.h.

◆ m_pMinPassThrough

Parameter<kt_int32u>* karto::OccupancyGrid::m_pMinPassThrough

private

Definition at line 6448 of file Karto.h.

◆ m_pOccupancyThreshold

Parameter<kt_double>* karto::OccupancyGrid::m_pOccupancyThreshold

private

Definition at line 6451 of file Karto.h.

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

Karto.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyGrid() [1/2]

◆ ~OccupancyGrid()

◆ OccupancyGrid() [2/2]

Member Function Documentation

◆ AddScan()

◆ Clone()

◆ ComputeDimensions()

◆ CreateFromScans() [1/2]

◆ CreateFromScans() [2/2]

◆ GetCellHitsCounts()

◆ GetCellPassCounts()

◆ IsFree()

◆ operator=()

◆ RayCast()

◆ RayTrace()

◆ Resize()

◆ SetMinPassThrough()

◆ SetOccupancyThreshold()

◆ Update()

◆ UpdateCell()

Friends And Related Function Documentation

◆ CellUpdater

◆ IncrementalOccupancyGrid

Member Data Documentation

◆ m_pCellHitsCnt

◆ m_pCellPassCnt

◆ m_pCellUpdater

◆ m_pMinPassThrough

◆ m_pOccupancyThreshold