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ray_tracer.h File Reference
#include <occupancy_grid_utils/impl/ray_trace_iterator.h>
#include <occupancy_grid_utils/LocalizedCloud.h>
#include <occupancy_grid_utils/OverlayClouds.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/optional.hpp>
#include <string>
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namespace  occupancy_grid_utils


typedef std::pair
< RayTraceIterator,
RayTraceIterator > 


void occupancy_grid_utils::addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
 Raytrace a cloud onto grid in overlay.
void occupancy_grid_utils::addKnownFreePoint (OverlayClouds *overlay, const geometry_msgs::Point &p, double r)
 Assert that a square centered at this point with side 2*r contains no obstacles.
OverlayClouds occupancy_grid_utils::createCloudOverlay (const nav_msgs::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold=DEFAULT_OCCUPANCY_THRESHOLD, double max_distance=DEFAULT_MAX_DISTANCE, double min_pass_through=DEFAULT_MIN_PASS_THROUGH)
 Create a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.
nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::getGrid (const OverlayClouds &overlay)
 Get the current grid. It's fine to modify the returned object.
nav_msgs::MapMetaData occupancy_grid_utils::gridInfo (const OverlayClouds &overlay)
RayTraceIterRange occupancy_grid_utils::rayTrace (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p1, const geometry_msgs::Point &p2, bool project_target_onto_grid=false, bool project_source_onto_grid=false)
 Returns an iterator range over the cells on the line segment between two points (inclusive).
void occupancy_grid_utils::removeCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
 Effectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay.
void occupancy_grid_utils::resetCounts (OverlayClouds *overlay)
sensor_msgs::LaserScan::Ptr occupancy_grid_utils::simulateRangeScan (const nav_msgs::OccupancyGrid &grid, const geometry_msgs::Pose &sensor_pose, const sensor_msgs::LaserScan &scanner_info, bool unknown_cells_are_obstacles=false)
 Simulate a planar laser range scan.


const double occupancy_grid_utils::DEFAULT_MAX_DISTANCE = 10.0
 Default max_distance for OverlayClouds.
const double occupancy_grid_utils::DEFAULT_MIN_PASS_THROUGH = 2
 Default min_pass_through for OverlayClouds.
const double occupancy_grid_utils::DEFAULT_OCCUPANCY_THRESHOLD = 0.1
 Default occupancy threshold for OverlayClouds.

Author(s): Bhaskara Marthi
autogenerated on Thu Dec 12 2013 13:17:54