#include <grid_map.h>

Inheritance diagram for tuw::GridMap< T >:

Public Member Functions
void	circle (const Point2D &p, double radius, int8_t value, int thickness=1, int lineType=cv::LINE_AA)

int	cols () const

void	erode (double distance, const GridMap &src=GridMap())

T &	get (const Point2D &_world_coordinates)

const T &	get (const Point2D &_world_coordinates) const

const T &	getThresholdFree ()

const T &	getThresholdOccupied ()

const T &	getThresholdUnknown ()

T &	grid (int row, int col)

const T &	grid (int row, int col) const

	GridMap ()

	GridMap (const GridMap &)=default

	GridMap (GridMap &&)=default

template<typename MapMetaData , class ARRAY >
void	init (const MapMetaData &metadata, ARRAY *data)

template<typename MapMetaData >
void	init (const MapMetaData &metadata, const T &data, bool copy=false)

template<typename MapMetaData , class ARRAY >
void	init (MapMetaData &metadata, ARRAY &data)

bool	isFree (const Point2D &_world_coordinates) const

bool	isOccupyied (const Point2D &_world_coordinates) const

const cv::Mat_< T > &	mat () const

T &	operator() (const Point2D &_world_coordinates)

const T &	operator() (const Point2D &_world_coordinates) const

T &	operator() (double x, double y)

const T &	operator() (double x, double y) const

GridMap &	operator= (const GridMap &)=default

GridMap &	operator= (GridMap &&)=default

int	rows () const

void	setThresholdFree (const T &threshold)

void	setThresholdOccupied (const T &threshold)

void	setThresholdUnknown (const T &threshold)

virtual	~GridMap ()=default

Public Member Functions inherited from tuw::WorldScopedMaps
template<typename T >
void	circle (T &map, const Point2D &p, int radius, const cv::Scalar &color, int thickness=1, int lineType=cv::LINE_AA) const

template<typename T >
cv::Scalar_< T >	get (cv::Mat_< T > &map, const Point2D &p) const

int	height () const

std::string	infoHeader () const

template<typename T >
void	init (const T &metadata)

void	init (int width_pixel, int height_pixel, double min_y, double max_y, double min_x, double max_x, double rotation=0)

bool	initialized ()

template<typename T >
void	line (T &map, const Point2D &p0, const Point2D &p1, const cv::Scalar &color, int thickness=1, int lineType=cv::LINE_AA) const

Point2D	m2w (const Point2D &src) const

Point2D &	m2w (const Point2D &src, Point2D &des) const

Point2D	m2w (double x, double y) const

double	max_x () const

double	max_y () const

double	min_x () const

double	min_y () const

const cv::Matx33d &	Mm2w () const

const cv::Matx33d &	Mw2m () const

WorldScopedMaps &	operator= (const WorldScopedMaps &)=default

WorldScopedMaps &	operator= (WorldScopedMaps &&)=default

double	scale_w2m (double v) const

double	scale_x () const

double	scale_y () const

Point2D	w2m (const Point2D &src) const

Point2D &	w2m (const Point2D &src, Point2D &des) const

Point2D	w2m (double x, double y) const

int	width () const

	WorldScopedMaps ()

	WorldScopedMaps (const WorldScopedMaps &)=default

	WorldScopedMaps (WorldScopedMaps &&)=default

virtual	~WorldScopedMaps ()=default

Static Public Attributes
static const int8_t	SPACE_FREE = 0

static const int8_t	SPACE_NA = -1

static const int8_t	SPACE_OCCUPIED = 100

Private Attributes
cv::Mat_< T >	data_

bool	read_only_

T	threshold_free_

T	threshold_occupyied_

T	threshold_unknown_

Detailed Description

template<class T>
class tuw::GridMap< T >

Definition at line 74 of file grid_map.h.

Constructor & Destructor Documentation

◆ GridMap() [1/3]

template<class T >

tuw::GridMap< T >::GridMap ( )

inline

Definition at line 112 of file grid_map.h.

◆ ~GridMap()

template<class T >

virtual tuw::GridMap< T >::~GridMap ( )

virtualdefault

◆ GridMap() [2/3]

template<class T >

tuw::GridMap< T >::GridMap ( const GridMap< T > & )

default

◆ GridMap() [3/3]

template<class T >

tuw::GridMap< T >::GridMap ( GridMap< T > && )

default

Member Function Documentation

◆ circle()

template<class T >

void tuw::GridMap< T >::circle	(	const Point2D &	p,
		double	radius,
		int8_t	value,
		int	thickness = `1`,
		int	lineType = `cv::LINE_AA`
	)

inline

draws a circle given in the visualization space (meter, ....) into a pixel map

Parameters

map	opencv matrix
p	location [m]
radius	radius [m].
value
thickness	line thickness -->

See also: opencv. Negative thickness means that a filled circle is to be drawn.

Parameters

lineType line type -->

See also: opencv

Definition at line 161 of file grid_map.h.

◆ cols()

template<class T >

int tuw::GridMap< T >::cols ( ) const

inline

Definition at line 240 of file grid_map.h.

◆ erode()

template<class T >

void tuw::GridMap< T >::erode	(	double	distance,
		const GridMap< T > &	src = `GridMap< T >()`
	)

inline

Definition at line 164 of file grid_map.h.

◆ get() [1/2]

template<class T >

T& tuw::GridMap< T >::get ( const Point2D & _world_coordinates )

inline

Definition at line 189 of file grid_map.h.

◆ get() [2/2]

template<class T >

const T& tuw::GridMap< T >::get ( const Point2D & _world_coordinates ) const

inline

Definition at line 193 of file grid_map.h.

◆ getThresholdFree()

template<class T >

const T& tuw::GridMap< T >::getThresholdFree ( )

inline

Definition at line 225 of file grid_map.h.

◆ getThresholdOccupied()

template<class T >

const T& tuw::GridMap< T >::getThresholdOccupied ( )

inline

Definition at line 217 of file grid_map.h.

◆ getThresholdUnknown()

template<class T >

const T& tuw::GridMap< T >::getThresholdUnknown ( )

inline

Definition at line 233 of file grid_map.h.

◆ grid() [1/2]

template<class T >

T& tuw::GridMap< T >::grid	(	int	row,
		int	col
	)

inline

Definition at line 243 of file grid_map.h.

◆ grid() [2/2]

template<class T >

const T& tuw::GridMap< T >::grid	(	int	row,
		int	col
	)		const

inline

Definition at line 247 of file grid_map.h.

◆ init() [1/3]

template<class T >

template<typename MapMetaData , class ARRAY >

void tuw::GridMap< T >::init	(	const MapMetaData &	metadata,
		ARRAY *	data
	)

inline

Definition at line 126 of file grid_map.h.

◆ init() [2/3]

template<class T >

template<typename MapMetaData >

void tuw::GridMap< T >::init	(	const MapMetaData &	metadata,
		const T &	data,
		bool	copy = `false`
	)

inline

Definition at line 140 of file grid_map.h.

◆ init() [3/3]

template<class T >

template<typename MapMetaData , class ARRAY >

void tuw::GridMap< T >::init	(	MapMetaData &	metadata,
		ARRAY &	data
	)

inline

Definition at line 133 of file grid_map.h.

◆ isFree()

template<class T >

bool tuw::GridMap< T >::isFree ( const Point2D & _world_coordinates ) const

inline

Definition at line 203 of file grid_map.h.

◆ isOccupyied()

template<class T >

bool tuw::GridMap< T >::isOccupyied ( const Point2D & _world_coordinates ) const

inline

Definition at line 197 of file grid_map.h.

◆ mat()

template<class T >

const cv::Mat_<T>& tuw::GridMap< T >::mat ( ) const

inline

Definition at line 209 of file grid_map.h.

◆ operator()() [1/4]

template<class T >

T& tuw::GridMap< T >::operator() ( const Point2D & _world_coordinates )

inline

Definition at line 181 of file grid_map.h.

◆ operator()() [2/4]

template<class T >

const T& tuw::GridMap< T >::operator() ( const Point2D & _world_coordinates ) const

inline

Definition at line 185 of file grid_map.h.

◆ operator()() [3/4]

template<class T >

T& tuw::GridMap< T >::operator()	(	double	x,
		double	y
	)

inline

Definition at line 173 of file grid_map.h.

◆ operator()() [4/4]

template<class T >

const T& tuw::GridMap< T >::operator()	(	double	x,
		double	y
	)		const

inline

Definition at line 177 of file grid_map.h.

◆ operator=() [1/2]

template<class T >

GridMap& tuw::GridMap< T >::operator= ( const GridMap< T > & )

default

◆ operator=() [2/2]

template<class T >

GridMap& tuw::GridMap< T >::operator= ( GridMap< T > && )

default

◆ rows()

template<class T >

int tuw::GridMap< T >::rows ( ) const

inline

Definition at line 237 of file grid_map.h.

◆ setThresholdFree()

template<class T >

void tuw::GridMap< T >::setThresholdFree ( const T & threshold )

inline

Definition at line 221 of file grid_map.h.

◆ setThresholdOccupied()

template<class T >

void tuw::GridMap< T >::setThresholdOccupied ( const T & threshold )

inline

Definition at line 213 of file grid_map.h.

◆ setThresholdUnknown()

template<class T >

void tuw::GridMap< T >::setThresholdUnknown ( const T & threshold )

inline

Definition at line 229 of file grid_map.h.

Member Data Documentation

◆ data_

template<class T >

cv::Mat_<T> tuw::GridMap< T >::data_

private

Definition at line 253 of file grid_map.h.

◆ read_only_

template<class T >

bool tuw::GridMap< T >::read_only_

private

Definition at line 252 of file grid_map.h.

◆ SPACE_FREE

template<class T >

const int8_t tuw::GridMap< T >::SPACE_FREE = 0

static

Definition at line 109 of file grid_map.h.

◆ SPACE_NA

template<class T >

const int8_t tuw::GridMap< T >::SPACE_NA = -1

static

Definition at line 108 of file grid_map.h.

◆ SPACE_OCCUPIED

template<class T >

const int8_t tuw::GridMap< T >::SPACE_OCCUPIED = 100

static

Definition at line 110 of file grid_map.h.

◆ threshold_free_

template<class T >

T tuw::GridMap< T >::threshold_free_

private

Definition at line 256 of file grid_map.h.

◆ threshold_occupyied_

template<class T >

T tuw::GridMap< T >::threshold_occupyied_

private

Definition at line 254 of file grid_map.h.

◆ threshold_unknown_

template<class T >

T tuw::GridMap< T >::threshold_unknown_

private

Definition at line 255 of file grid_map.h.

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

grid_map.h

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

template<class T> class tuw::GridMap< T >

Constructor & Destructor Documentation

◆ GridMap() [1/3]

◆ ~GridMap()

◆ GridMap() [2/3]

◆ GridMap() [3/3]

Member Function Documentation

◆ circle()

◆ cols()

◆ erode()

◆ get() [1/2]

◆ get() [2/2]

◆ getThresholdFree()

◆ getThresholdOccupied()

◆ getThresholdUnknown()

◆ grid() [1/2]

◆ grid() [2/2]

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ isFree()

◆ isOccupyied()

◆ mat()

◆ operator()() [1/4]

◆ operator()() [2/4]

◆ operator()() [3/4]

◆ operator()() [4/4]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ rows()

◆ setThresholdFree()

◆ setThresholdOccupied()

◆ setThresholdUnknown()

Member Data Documentation

◆ data_

◆ read_only_

◆ SPACE_FREE

◆ SPACE_NA

◆ SPACE_OCCUPIED

◆ threshold_free_

◆ threshold_occupyied_

◆ threshold_unknown_

template<class T>
class tuw::GridMap< T >