GridMap Class Reference

#include <grid-map.h>

List of all members.

Classes
struct	MapGroupEmpty
struct	MapGroupNotEmpty
struct	WrongKnownMap
Public Types
typedef std::set< GridMap * >	Group
typedef boost::tuple< unsigned, Vector, unsigned >	Label
	A label has a center of mass, and an area.
typedef std::vector< Label >	Labels
	All found labels.
typedef signed short	Value
typedef Eigen::Vector2f	Vector
typedef std::pair< Vector, Vector >	VectorPair
	A pair of vectors.
Public Member Functions
void	addNearestValueSaturated (const Vector &pos, const int delta)
	Add delta ta value at pos, saturated but sampled without any interpolation.
Value &	atInternalCoord (const int x, const int y)
Value	atInternalCoord (const int x, const int y) const
template<typename Op >
void	binaryOperation (const GridMap &that, Op &op)
	Map to map generic binary operation.
template<typename Op >
void	binaryOperation (const GridMap &that, const Op &op)
	Map to map generic binary operation, overload for const op.
GridMap	buildGradient (const Vector &goal, bool &isSuccess) const
	Build a gradient to a goal, and avoid obstacles (see Philippsen TR E* 06)
VectorPair	closestPoints (const Label &area0, const Label &area1, const unsigned monteCarloSteps=100) const
	Return approximately the closest points between two areas.
void	dilate4 (const unsigned amount, const unsigned delta=0)
	Dilate the map of amount pixels, taking into account the four N,S,W,E pixels around each pixel.
void	dilate8 (const unsigned amount, const unsigned delta=0)
	Dilate the map of amount pixels, taking into account all the eight pixels around each pixel.
void	erode4 (const unsigned amount, const unsigned delta=0)
	Erode the map of amount pixels, taking into account the four N,S,W,E pixels around each pixel.
void	erode8 (const unsigned amount, const unsigned delta=0)
	Erode the map of amount pixels, taking into account all the eight pixels around each pixel.
void	extendToFit (const Vector &pos)
	Extend to fit position.
Vector	fromInternalCoord (const int x, const int y) const
Vector	fromInternalCoord (const float x, const float y) const
float	getInformationQuantity () const
int	getInternalHeight () const
int	getInternalStartX () const
int	getInternalStartY () const
int	getInternalWidth () const
Vector	getMaxCoord () const
Vector	getMinCoord () const
unsigned	getRayCount () const
float	getResolution () const
Vector	getSize () const
Vector	getSlope (const Vector &pos, const float limit=65536.f) const
	Return slope at pos, with bi-linear interpolated.
Value	getValue (const Vector &pos) const
	Return value at pos, with bi-linear interpolation.
Value	getValueNearest (const Vector &pos) const
	Return value at pos, sampled without any interpolation.
	GridMap (Group *gridMapGroup, const Value defaultValue)
	GridMap (const float resolution, const Value defaultValue, Group *gridMapGroup=0)
	Construct using resolution and default value and a null size, optionally initiate group.
	GridMap (const float resolution, const float startX, const float startY, const float width, const float height, const Value defaultValue, Group *gridMapGroup=0)
	Construct using user-provided demonsion, optionally initiate group.
	GridMap (const std::string &pgmFileName, const float resolution, const Value defaultValue, Group *gridMapGroup=0)
	Construct using resolution and data from an external file, optionally initiate group.
	GridMap (const GridMap &that)
void	invert ()
	Invert the values of every pixel, if the value is -32768, map it to +32767.
bool	isWithinBounds (const Vector &pos) const
bool	isWithinBoundsInternal (const int x, const int y) const
Labels	labelize (const Value threshold)
	Label this map, if value of a pixel is bigger then threshold, take into consideration for label. Return the vector of labels center of mass.
template<typename F >
void	lineScan (const Vector &start, const Vector &stop, F &functor, const Value &value=0)
template<typename F >
void	lineScan (const Vector &start, const Vector &stop, F &functor, const Value texture[], const unsigned textureLength)
GridMap &	operator= (const GridMap &that)
void	rayCountReset ()
void	setNearestValue (const Vector &pos, const Value value)
	Set value at pos, sampled without any interpolation.
void	threshold (const Value threshold, const Value lowValue, const Value highValue)
	Apply threshold to every value of the map; if it is below threshold, set to lowValue, else set to highValue.
void	toInternalCoord (const Vector &pos, int &internalX, int &internalY) const
void	toInternalCoordSuperSampled (const Vector &pos, const int superSampleRes, int &internalX, int &internalY) const
nav_msgs::OccupancyGrid	toOccupancyGrid (const std::string &frame_id, const GridMap *knownMap=0) const
	Return a ROS nav_msgs/OccupancyGrid message.
void	toPGMFile (const std::string &fileName, const int divisorToPGM=256) const
template<typename Op >
void	unaryOperation (Op &op)
	Map to map generic unary operation.
template<typename Op >
void	unaryOperation (const Op &op)
	Map to map generic unary operation, overload for const op.
	~GridMap ()
Static Public Member Functions
static Value	saturatedValueFromInt (int v)
Protected Types
typedef std::vector< Value >	Values
Protected Member Functions
void	dilateN (const unsigned amount, const int lookup[][2], const size_t lookupSize, const unsigned delta)
void	erodeN (const unsigned amount, const int lookup[][2], const size_t lookupSize, const unsigned delta)
bool	extendMap (int xMin, int yMin, int xMax, int yMax)
void	extendMapInternal (int deltaStartX, int deltaStartY, int newWidth, int newHeight)
void	initiateMapGroup ()
Protected Attributes
Value	defaultValue
int	height
Group *	mapGroup
unsigned	rayCount
float	resolution
int	startX
int	startY
Values	values
int	width

---

Detailed Description

Definition at line 12 of file grid-map.h.

---

Member Typedef Documentation

typedef std::set<GridMap*> GridMap::Group

Definition at line 17 of file grid-map.h.

typedef boost::tuple<unsigned, Vector, unsigned> GridMap::Label

A label has a center of mass, and an area.

Definition at line 117 of file grid-map.h.

typedef std::vector<Label> GridMap::Labels

All found labels.

Definition at line 119 of file grid-map.h.

typedef signed short GridMap::Value

Definition at line 15 of file grid-map.h.

typedef std::vector<Value> GridMap::Values [protected]

Definition at line 33 of file grid-map.h.

typedef Eigen::Vector2f GridMap::Vector

Definition at line 16 of file grid-map.h.

typedef std::pair<Vector, Vector> GridMap::VectorPair

A pair of vectors.

Definition at line 123 of file grid-map.h.

---

Constructor & Destructor Documentation

GridMap::GridMap	(	Group *	gridMapGroup,
		const Value	defaultValue
	)

Definition at line 18 of file grid-map.cpp.

GridMap::GridMap	(	const float	resolution,
		const Value	defaultValue,
		Group *	gridMapGroup = 0
	)

Construct using resolution and default value and a null size, optionally initiate group.

Definition at line 42 of file grid-map.cpp.

GridMap::GridMap	(	const float	resolution,
		const float	startX,
		const float	startY,
		const float	width,
		const float	height,
		const Value	defaultValue,
		Group *	gridMapGroup = 0
	)

Construct using user-provided demonsion, optionally initiate group.

Definition at line 56 of file grid-map.cpp.

GridMap::GridMap	(	const std::string &	pgmFileName,
		const float	resolution,
		const Value	defaultValue,
		Group *	gridMapGroup = 0
	)

Construct using resolution and data from an external file, optionally initiate group.

Definition at line 71 of file grid-map.cpp.

GridMap::GridMap

(

const GridMap &

that

)

Definition at line 117 of file grid-map.cpp.

GridMap::~GridMap

(

)

Definition at line 150 of file grid-map.cpp.

---

Member Function Documentation

void GridMap::addNearestValueSaturated	(	const Vector &	pos,
		const int	delta
	)

Add delta ta value at pos, saturated but sampled without any interpolation.

Definition at line 207 of file grid-map.cpp.

GridMap::Value & GridMap::atInternalCoord	(	const int	x,
		const int	y
	)

Definition at line 157 of file grid-map.cpp.

GridMap::Value GridMap::atInternalCoord	(	const int	x,
		const int	y
	)		const

Definition at line 163 of file grid-map.cpp.

template<typename Op >

void GridMap::binaryOperation	(	const GridMap &	that,
		Op &	op
	)		[inline]

Map to map generic binary operation.

Definition at line 146 of file grid-map.h.

template<typename Op >

void GridMap::binaryOperation	(	const GridMap &	that,
		const Op &	op
	)		[inline]

Map to map generic binary operation, overload for const op.

Definition at line 155 of file grid-map.h.

GridMap GridMap::buildGradient	(	const Vector &	goal,
		bool &	isSuccess
	)		const

Build a gradient to a goal, and avoid obstacles (see Philippsen TR E* 06)

Assume that this contains the speed map, where 0 corresponds to obstacles and 32767 maximum speed. Gradients have 64 subsampling resolution.

Definition at line 947 of file grid-map.cpp.

GridMap::VectorPair GridMap::closestPoints	(	const Label &	area0,
		const Label &	area1,
		const unsigned	monteCarloSteps = 100
	)		const

Return approximately the closest points between two areas.

Definition at line 886 of file grid-map.cpp.

void GridMap::dilate4	(	const unsigned	amount,
		const unsigned	delta = 0
	)

Dilate the map of amount pixels, taking into account the four N,S,W,E pixels around each pixel.

Definition at line 608 of file grid-map.cpp.

void GridMap::dilate8	(	const unsigned	amount,
		const unsigned	delta = 0
	)

Dilate the map of amount pixels, taking into account all the eight pixels around each pixel.

Definition at line 613 of file grid-map.cpp.

void GridMap::dilateN	(	const unsigned	amount,
		const int	lookup[][2],
		const size_t	lookupSize,
		const unsigned	delta
	)		[protected]

Definition at line 618 of file grid-map.cpp.

void GridMap::erode4	(	const unsigned	amount,
		const unsigned	delta = 0
	)

Erode the map of amount pixels, taking into account the four N,S,W,E pixels around each pixel.

Definition at line 638 of file grid-map.cpp.

void GridMap::erode8	(	const unsigned	amount,
		const unsigned	delta = 0
	)

Erode the map of amount pixels, taking into account all the eight pixels around each pixel.

Definition at line 643 of file grid-map.cpp.

void GridMap::erodeN	(	const unsigned	amount,
		const int	lookup[][2],
		const size_t	lookupSize,
		const unsigned	delta
	)		[protected]

Definition at line 648 of file grid-map.cpp.

bool GridMap::extendMap	(	int	xMin,
		int	yMin,
		int	xMax,
		int	yMax
	)		[protected]

Definition at line 462 of file grid-map.cpp.

void GridMap::extendMapInternal	(	int	deltaStartX,
		int	deltaStartY,
		int	newWidth,
		int	newHeight
	)		[protected]

Definition at line 538 of file grid-map.cpp.

void GridMap::extendToFit

(

const Vector &

pos

)

Extend to fit position.

Definition at line 273 of file grid-map.cpp.

GridMap::Vector GridMap::fromInternalCoord	(	const int	x,
		const int	y
	)		const

Definition at line 169 of file grid-map.cpp.

GridMap::Vector GridMap::fromInternalCoord	(	const float	x,
		const float	y
	)		const

Definition at line 175 of file grid-map.cpp.

float GridMap::getInformationQuantity

(

)

const

Definition at line 1094 of file grid-map.cpp.

int GridMap::getInternalHeight

(

)

const [inline]

Definition at line 69 of file grid-map.h.

int GridMap::getInternalStartX

(

)

const [inline]

Definition at line 66 of file grid-map.h.

int GridMap::getInternalStartY

(

)

const [inline]

Definition at line 67 of file grid-map.h.

int GridMap::getInternalWidth

(

)

const [inline]

Definition at line 68 of file grid-map.h.

Vector GridMap::getMaxCoord

(

)

const [inline]

Definition at line 73 of file grid-map.h.

Vector GridMap::getMinCoord

(

)

const [inline]

Definition at line 72 of file grid-map.h.

unsigned GridMap::getRayCount

(

)

const [inline]

Definition at line 165 of file grid-map.h.

float GridMap::getResolution

(

)

const [inline]

Definition at line 70 of file grid-map.h.

Vector GridMap::getSize

(

)

const [inline]

Definition at line 74 of file grid-map.h.

GridMap::Vector GridMap::getSlope	(	const Vector &	pos,
		const float	limit = 65536.f
	)		const

Return slope at pos, with bi-linear interpolated.

Definition at line 236 of file grid-map.cpp.

GridMap::Value GridMap::getValue

(

const Vector &

pos

)

const

Return value at pos, with bi-linear interpolation.

Definition at line 215 of file grid-map.cpp.

GridMap::Value GridMap::getValueNearest

(

const Vector &

pos

)

const

Return value at pos, sampled without any interpolation.

Definition at line 193 of file grid-map.cpp.

void GridMap::initiateMapGroup

(

)

[protected]

Definition at line 107 of file grid-map.cpp.

void GridMap::invert

(

)

Invert the values of every pixel, if the value is -32768, map it to +32767.

Definition at line 564 of file grid-map.cpp.

bool GridMap::isWithinBounds

(

const Vector &

pos

)

const

Definition at line 266 of file grid-map.cpp.

bool GridMap::isWithinBoundsInternal	(	const int	x,
		const int	y
	)		const

Definition at line 261 of file grid-map.cpp.

GridMap::Labels GridMap::labelize

(

const Value

threshold

)

Label this map, if value of a pixel is bigger then threshold, take into consideration for label. Return the vector of labels center of mass.

Definition at line 697 of file grid-map.cpp.

template<typename F >

void GridMap::lineScan	(	const Vector &	start,
		const Vector &	stop,
		F &	functor,
		const Value &	value = 0
	)

Definition at line 322 of file grid-map.cpp.

template<typename F >

void GridMap::lineScan	(	const Vector &	start,
		const Vector &	stop,
		F &	functor,
		const Value	texture[],
		const unsigned	textureLength
	)

Definition at line 329 of file grid-map.cpp.

GridMap & GridMap::operator=

(

const GridMap &

that

)

Definition at line 132 of file grid-map.cpp.

void GridMap::rayCountReset

(

)

[inline]

Definition at line 164 of file grid-map.h.

static Value GridMap::saturatedValueFromInt

(

int

v

)

[inline, static]

Definition at line 62 of file grid-map.h.

void GridMap::setNearestValue	(	const Vector &	pos,
		const Value	value
	)

Set value at pos, sampled without any interpolation.

Definition at line 200 of file grid-map.cpp.

void GridMap::threshold	(	const Value	threshold,
		const Value	lowValue,
		const Value	highValue
	)

Apply threshold to every value of the map; if it is below threshold, set to lowValue, else set to highValue.

Definition at line 576 of file grid-map.cpp.

void GridMap::toInternalCoord	(	const Vector &	pos,
		int &	internalX,
		int &	internalY
	)		const

Definition at line 181 of file grid-map.cpp.

void GridMap::toInternalCoordSuperSampled	(	const Vector &	pos,
		const int	superSampleRes,
		int &	internalX,
		int &	internalY
	)		const

Definition at line 187 of file grid-map.cpp.

nav_msgs::OccupancyGrid GridMap::toOccupancyGrid	(	const std::string &	frame_id,
		const GridMap *	knownMap = 0
	)		const

Return a ROS nav_msgs/OccupancyGrid message.

Definition at line 280 of file grid-map.cpp.

void GridMap::toPGMFile	(	const std::string &	fileName,
		const int	divisorToPGM = 256
	)		const

Definition at line 1103 of file grid-map.cpp.

template<typename Op >

void GridMap::unaryOperation

(

Op &

op

)

[inline]

Map to map generic unary operation.

Definition at line 132 of file grid-map.h.

template<typename Op >

void GridMap::unaryOperation

(

const Op &

op

)

[inline]

Map to map generic unary operation, overload for const op.

Definition at line 139 of file grid-map.h.

---

Member Data Documentation

Value GridMap::defaultValue [protected]

Definition at line 38 of file grid-map.h.

int GridMap::height [protected]

Definition at line 37 of file grid-map.h.

Group* GridMap::mapGroup [protected]

Definition at line 40 of file grid-map.h.

unsigned GridMap::rayCount [mutable, protected]

Definition at line 41 of file grid-map.h.

float GridMap::resolution [protected]

Definition at line 35 of file grid-map.h.

int GridMap::startX [protected]

Definition at line 36 of file grid-map.h.

int GridMap::startY [protected]

Definition at line 36 of file grid-map.h.

Values GridMap::values [protected]

Definition at line 39 of file grid-map.h.

int GridMap::width [protected]

Definition at line 37 of file grid-map.h.

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

• grid-map.h
• grid-map.cpp