Public Member Functions | Static Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | Friends
karto::OccupancyGrid Class Reference

#include <OccupancyGrid.h>

Inheritance diagram for karto::OccupancyGrid:
Inheritance graph
[legend]

List of all members.

Public Member Functions

OccupancyGridClone () const
kt_bool IsFree (const Vector2i &rGridIndex) const
 OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2d &rOffset, kt_double resolution)
kt_double RayCast (const Pose2 &rPose2, kt_double maxRange) const

Static Public Member Functions

static OccupancyGridCreateFromMapper (OpenMapper *pMapper, kt_double resolution)
static OccupancyGridCreateFromScans (const LocalizedLaserScanList &rScans, kt_double resolution)
static KARTO_DEPRECATED
OccupancyGrid
CreateFromScans (const std::vector< SmartPointer< LocalizedRangeScan > > &rScans, kt_double resolution)

Protected Member Functions

kt_bool AddScan (LocalizedLaserScan *pScan, kt_bool doUpdate=false)
virtual void CreateFromScans (const LocalizedLaserScanList &rScans)
Grid< kt_int32u > * GetCellHitsCounts ()
Grid< kt_int32u > * GetCellPassCounts ()
kt_bool RayTrace (const Vector2d &rWorldFrom, const Vector2d &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)
virtual void Resize (kt_int32s width, kt_int32s height)
void UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)
void UpdateGrid ()

Static Protected Member Functions

static void ComputeDimensions (const LocalizedLaserScanList &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2d &rOffset)

Protected Attributes

SmartPointer< Grid< kt_int32u > > m_pCellHitsCnt
SmartPointer< Grid< kt_int32u > > m_pCellPassCnt

Private Member Functions

 KARTO_RTTI ()
 OccupancyGrid (const OccupancyGrid &)
const OccupancyGridoperator= (const OccupancyGrid &)

Private Attributes

CellUpdaterm_pCellUpdater
SmartPointer< Parameter
< kt_int32u > > 
m_pMinPassThrough
SmartPointer< Parameter
< kt_double > > 
m_pOccupancyThreshold

Friends

class CellUpdater
class IncrementalOccupancyGrid

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 56 of file OccupancyGrid.h.


Constructor & Destructor Documentation

karto::OccupancyGrid::OccupancyGrid ( kt_int32s  width,
kt_int32s  height,
const Vector2d rOffset,
kt_double  resolution 
)

Occupancy grid of given size

Parameters:
widthwidth
heightheight
rOffsetoffset
resolutionresolution

Definition at line 28 of file OccupancyGrid.cpp.


Member Function Documentation

kt_bool karto::OccupancyGrid::AddScan ( LocalizedLaserScan pScan,
kt_bool  doUpdate = false 
) [protected]

Adds the scan's information to this grid's counters (optionally update the grid's cells' occupancy status)

Parameters:
pScanlaser scan
doUpdatewhether to update the grid's cell's occupancy status
Returns:
returns false if an endpoint fell off the grid, otherwise true

Definition at line 142 of file OccupancyGrid.cpp.

Makes a clone

Returns:
occupancy grid clone

Definition at line 53 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::ComputeDimensions ( const LocalizedLaserScanList rScans,
kt_double  resolution,
kt_int32s rWidth,
kt_int32s rHeight,
Vector2d rOffset 
) [static, protected]

Calculates grid dimensions from localized laser scans and resolution

Parameters:
rScansscans
resolutionresolution
rWidth(output parameter) width
rHeight(output parameter) height
rOffset(output parameter) offset

Definition at line 105 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromMapper ( OpenMapper pMapper,
kt_double  resolution 
) [static]

Occupancy grid from the scans in the given mapper using the given resolution

Note:
Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.
Parameters:
pMappermapper
resolutionresolution
Returns:
occupancy grid from the given scans using the given resolution

Definition at line 100 of file OccupancyGrid.cpp.

Occupancy grid from the given scans using the given resolution

Note:
Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.
Parameters:
rScanslist of scans
resolutionresolution
Returns:
occupancy grid from the given scans using the given resolution

Definition at line 84 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromScans ( const std::vector< SmartPointer< LocalizedRangeScan > > &  rScans,
kt_double  resolution 
) [static]

Occupancy grid from the given scans using the given resolution

Note:
Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.
Parameters:
rScansscans
resolutionresolution
Deprecated:
Please use CreateFromScans(const LocalizedLaserScanList& rScans, kt_double resolution)
Warning:
Throws exception in Windows
Returns:
occupancy grid from the given scans using the given resolution

Definition at line 72 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::CreateFromScans ( const LocalizedLaserScanList rScans) [protected, virtual]

Creates grid using scans

Parameters:
rScansscans

Definition at line 126 of file OccupancyGrid.cpp.

Gets grid of cell hit counts

Returns:
grid of cell hit counts

Definition at line 144 of file OccupancyGrid.h.

Get grid of cell pass counts

Returns:
grid of cell pass counts

Definition at line 153 of file OccupancyGrid.h.

kt_bool karto::OccupancyGrid::IsFree ( const Vector2i rGridIndex) const [inline]

Checks if the given grid index is free

Parameters:
rGridIndexgrid index
Returns:
whether the cell at the given grid index is free space

Definition at line 124 of file OccupancyGrid.h.

Reimplemented from karto::Grid< kt_int8u >.

const OccupancyGrid& karto::OccupancyGrid::operator= ( const OccupancyGrid ) [private]
kt_double karto::OccupancyGrid::RayCast ( const Pose2 rPose2,
kt_double  maxRange 
) const

Casts a ray from the given point (up to the given max range) and returns the distance to the closest obstacle

Parameters:
rPose2starting point
maxRangemaximum range
Returns:
distance to closest obstacle

Definition at line 186 of file OccupancyGrid.cpp.

kt_bool karto::OccupancyGrid::RayTrace ( const Vector2d rWorldFrom,
const Vector2d rWorldTo,
kt_bool  isEndPointValid,
kt_bool  doUpdate = false 
) [protected]

Traces a beam from the start position to the end position marking the bookkeeping arrays accordingly.

Parameters:
rWorldFromstart position of beam
rWorldToend position of beam
isEndPointValidis the reading within the range threshold?
doUpdatewhether to update the cells' occupancy status immediately
Returns:
returns false if an endpoint fell off the grid, otherwise true

Definition at line 226 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::Resize ( kt_int32s  width,
kt_int32s  height 
) [protected, virtual]

Resizes the grid (deletes all old data)

Parameters:
widthnew width
heightnew height

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 296 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateCell ( kt_int8u pCell,
kt_int32u  cellPassCnt,
kt_int32u  cellHitCnt 
) [protected]

Updates a single cell's value based on the given counters

Parameters:
pCellcell
cellPassCntcell pass count
cellHitCntcell hit count

Definition at line 260 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateGrid ( ) [protected]

Updates the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt

Definition at line 277 of file OccupancyGrid.cpp.


Friends And Related Function Documentation

friend class CellUpdater [friend]

Definition at line 61 of file OccupancyGrid.h.

friend class IncrementalOccupancyGrid [friend]

Definition at line 62 of file OccupancyGrid.h.


Member Data Documentation

Counters of number of times a beam ended at a cell

Definition at line 223 of file OccupancyGrid.h.

Counters of number of times a beam passed through a cell

Definition at line 218 of file OccupancyGrid.h.

Definition at line 226 of file OccupancyGrid.h.

Definition at line 234 of file OccupancyGrid.h.

Definition at line 237 of file OccupancyGrid.h.


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


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Thu Aug 27 2015 14:07:26