hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions > Class Template Reference

#include <OccGridMapBase.h>

Inheritance diagram for hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >:

List of all members.

Public Member Functions
void	bresenham2D (unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset)
void	bresenhamCellFree (unsigned int offset)
void	bresenhamCellOcc (unsigned int offset)
float	getGridProbabilityMap (int index) const
float	getObstacleThreshold () const
bool	isFree (int xMap, int yMap) const
bool	isFree (int index) const
bool	isOccupied (int xMap, int yMap) const
bool	isOccupied (int index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OccGridMapBase (float mapResolution, const Eigen::Vector2i &size, const Eigen::Vector2f &offset)
void	setUpdateFreeFactor (float factor)
void	setUpdateOccupiedFactor (float factor)
void	updateByScan (const DataContainer &dataContainer, const Eigen::Vector3f &robotPoseWorld)
void	updateLineBresenhami (const Eigen::Vector2i &beginMap, const Eigen::Vector2i &endMap, unsigned int max_length=UINT_MAX)
void	updateSetFree (int index)
void	updateSetOccupied (int index)
void	updateUnsetFree (int index)
virtual	~OccGridMapBase ()
Protected Attributes
ConcreteGridFunctions	concreteGridFunctions
int	currMarkFreeIndex
int	currMarkOccIndex
int	currUpdateIndex

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Detailed Description

template<typename ConcreteCellType, typename ConcreteGridFunctions>
class hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >

Definition at line 42 of file OccGridMapBase.h.

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Constructor & Destructor Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::OccGridMapBase	(	float	mapResolution,
		const Eigen::Vector2i &	size,
		const Eigen::Vector2f &	offset
	)		[inline]

Definition at line 50 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

virtual hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::~OccGridMapBase

(

)

[inline, virtual]

Definition at line 57 of file OccGridMapBase.h.

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Member Function Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenham2D	(	unsigned int	abs_da,
		unsigned int	abs_db,
		int	error_b,
		int	offset_a,
		int	offset_b,
		unsigned int	offset
	)		[inline]

Definition at line 243 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenhamCellFree

(

unsigned int

offset

)

[inline]

Definition at line 216 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenhamCellOcc

(

unsigned int

offset

)

[inline]

Definition at line 226 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

float hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::getGridProbabilityMap

(

int

index

)

const [inline]

Definition at line 74 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

float hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::getObstacleThreshold

(

)

const [inline]

Definition at line 99 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isFree	(	int	xMap,
		int	yMap
	)		const [inline]

Definition at line 84 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isFree

(

int

index

)

const [inline]

Definition at line 94 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isOccupied	(	int	xMap,
		int	yMap
	)		const [inline]

Definition at line 79 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isOccupied

(

int

index

)

const [inline]

Definition at line 89 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::setUpdateFreeFactor

(

float

factor

)

[inline]

Definition at line 106 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::setUpdateOccupiedFactor

(

float

factor

)

[inline]

Definition at line 111 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateByScan	(	const DataContainer &	dataContainer,
		const Eigen::Vector3f &	robotPoseWorld
	)		[inline]

Updates the map using the given scan data and robot pose

Parameters:

dataContainer	Contains the laser scan data
robotPoseWorld	The 2D robot pose in world coordinates

Definition at line 121 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateLineBresenhami	(	const Eigen::Vector2i &	beginMap,
		const Eigen::Vector2i &	endMap,
		unsigned int	max_length = UINT_MAX
	)		[inline]

Definition at line 170 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateSetFree

(

int

index

)

[inline]

Definition at line 64 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateSetOccupied

(

int

index

)

[inline]

Definition at line 59 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateUnsetFree

(

int

index

)

[inline]

Definition at line 69 of file OccGridMapBase.h.

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Member Data Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

ConcreteGridFunctions hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::concreteGridFunctions [protected]

Definition at line 264 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currMarkFreeIndex [protected]

Definition at line 267 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currMarkOccIndex [protected]

Definition at line 266 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currUpdateIndex [protected]

Definition at line 265 of file OccGridMapBase.h.

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

• OccGridMapBase.h