old_occupancy_grid_3d Namespace Reference

Classes
class	occupancy_grid_3d
	class which implements the occupancy grid More...
Functions
def	subtract
	subtract occupancy grids.
Variables
tuple	cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist())
	print grid_pts
tuple	dict = ut.load_pickle(pkl_file_name)
tuple	gr
tuple	grid_pts = gr.grid_to_centroids()
string	help = 'file.pkl File with the scan,pos dict.'
list	l1 = dict['l1']
list	l2 = dict['l2']
tuple	lc = pu.LineCloud(gr.grid_lines(),(100,100,0))
tuple	max_angle = math.radians(40)
tuple	min_angle = math.radians(-40)
tuple	p = optparse.OptionParser()
tuple	pc = pu.PointCloud(pts,(100,100,100))
	pkl_file_name = opt.pkl_file_name
list	pos_list = dict['pos_list']
tuple	pts = ut.load_pickle(pts_pkl)
	pts_pkl = opt.pts_pkl
tuple	resolution = np.matrix([0.01,0.01,0.01])
	print gr.grid
list	scan_list = dict['scan_list']
tuple	t0 = time.time()
tuple	t1 = time.time()

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Function Documentation

def old_occupancy_grid_3d.subtract	(		og1,
			og2
	)

subtract occupancy grids.

og1 = og1-og2

Parameters:

og1	- occupancy_grid_3d object.
og2	- occupancy_grid_3d object.

will position og2 at an appropriate location within og1 (hopefully) will copy points in og2 but not in og1 into og1

points corresponding to the gird cells whose occupancy drops to zero will still be in grid_points_list UNTESTED: * subtracting grids of different sizes. * how the rotation_z of the occupancy grid will affect things.

Definition at line 53 of file old_occupancy_grid_3d.py.

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Variable Documentation

tuple old_occupancy_grid_3d::cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist())

print grid_pts

Definition at line 606 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::dict = ut.load_pickle(pkl_file_name)

Definition at line 581 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::gr

Initial value:

occupancy_grid_3d(np.matrix([0.45,-0.5,-1.0]).T, np.matrix([0.65,0.05,-0.2]).T,
                           resolution)

Definition at line 574 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::grid_pts = gr.grid_to_centroids()

Definition at line 604 of file old_occupancy_grid_3d.py.

string old_occupancy_grid_3d::help = 'file.pkl File with the scan,pos dict.'

Definition at line 557 of file old_occupancy_grid_3d.py.

list old_occupancy_grid_3d::l1 = dict['l1']

Definition at line 587 of file old_occupancy_grid_3d.py.

list old_occupancy_grid_3d::l2 = dict['l2']

Definition at line 588 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::lc = pu.LineCloud(gr.grid_lines(),(100,100,0))

Definition at line 608 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::max_angle = math.radians(40)

Definition at line 585 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::min_angle = math.radians(-40)

Definition at line 584 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::p = optparse.OptionParser()

Definition at line 554 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::pc = pu.PointCloud(pts,(100,100,100))

Definition at line 607 of file old_occupancy_grid_3d.py.

old_occupancy_grid_3d::pkl_file_name = opt.pkl_file_name

Definition at line 563 of file old_occupancy_grid_3d.py.

list old_occupancy_grid_3d::pos_list = dict['pos_list']

Definition at line 582 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::pts = ut.load_pickle(pts_pkl)

Definition at line 578 of file old_occupancy_grid_3d.py.

old_occupancy_grid_3d::pts_pkl = opt.pts_pkl

Definition at line 562 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::resolution = np.matrix([0.01,0.01,0.01])

print gr.grid

Definition at line 573 of file old_occupancy_grid_3d.py.

list old_occupancy_grid_3d::scan_list = dict['scan_list']

Definition at line 583 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::t0 = time.time()

Definition at line 598 of file old_occupancy_grid_3d.py.

tuple old_occupancy_grid_3d::t1 = time.time()

Definition at line 600 of file old_occupancy_grid_3d.py.