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Public Member Functions | Protected Attributes
hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions > Class Template Reference

#include <OccGridMapBase.h>

Inheritance diagram for hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >:
Inheritance graph
[legend]

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

Detailed Description

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

Definition at line 42 of file OccGridMapBase.h.


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.


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:
dataContainerContains the laser scan data
robotPoseWorldThe 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.


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.


The documentation for this class was generated from the following file:
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hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:52:04