robot_model_services::MapHelper Class Reference

#include <MapHelper.hpp>

List of all members.

Public Member Functions
bool	doRaytracing (const SimpleVector3 &fromPoint, const SimpleVector3 &toPoint)
bool	doRaytracing (const SimpleVector3 &fromPoint, const SimpleVector3 &toPoint, Ray &ray)
int8_t	getCollisionThreshold ()
int8_t	getCostmapOccupancyValue (const SimpleVector3 &position)
int8_t	getCostmapOccupancyValue (const int32_t &mapX, const int32_t &mapY)
int8_t	getMapOccupancyValue (const SimpleVector3 &position)
int8_t	getMapOccupancyValue (const int32_t &mapX, const int32_t &mapY)
float	getMetricHeight ()
float	getMetricWidth ()
SimpleQuaternion	getOrientation ()
int8_t	getRaytracingMapOccupancyValue (const SimpleVector3 &position)
int8_t	getRaytracingMapOccupancyValue (const int32_t &mapX, const int32_t &mapY)
float	getSquaredDistance (const SimpleVector3 &start, const SimpleVector3 &goal)
SimpleVector3	getTranslation ()
bool	isOccupancyValueAcceptable (const int8_t &occupancyValue)
	MapHelper (const std::string &mapTopicName="map", const std::string &getPlanServiceName="move_base/make_plan")
void	mapToWorldCoordinates (const int32_t &x, const int32_t &y, SimpleVector3 &result)
void	mapToWorldCoordinates (const SimpleVector3 &position, SimpleVector3 &result)
void	mapToWorldSize (const double &size, double &result)
void	setCollisionThreshold (int8_t thresholdValue)
void	worldToMapCoordinates (const SimpleVector3 &position, int32_t &x, int32_t &y)
void	worldToMapCoordinates (const SimpleVector3 &position, SimpleVector3 &result)
void	worldToMapSize (const double &size, double &result)
virtual	~MapHelper ()
Private Member Functions
void	aggregateRaytracingMap ()
int8_t	getOccupancyValue (const nav_msgs::OccupancyGrid &map, const SimpleVector3 &position)
int8_t	getOccupancyValue (const costmap_2d::Costmap2D &costmap, const SimpleVector3 &position)
int8_t	getOccupancyValue (const nav_msgs::OccupancyGrid &map, const int32_t &mapX, const int32_t &mapY)
int8_t	getOccupancyValue (const costmap_2d::Costmap2D &costmap, const int32_t &mapX, const int32_t &mapY)
void	mapReceived (nav_msgs::OccupancyGrid map)
void	setCostmap ()
Private Attributes
int8_t	mCollisionThreshold
costmap_2d::Costmap2D	mCostmap
int8_t	mCostTranslationTable [256]
DebugHelperPtr	mDebugHelperPtr
ros::ServiceClient	mGetPlanServiceClient
ros::NodeHandle	mGlobalNodeHandle
nav_msgs::OccupancyGrid	mMap
bool	mMapReceived
nav_msgs::OccupancyGrid	mRaytracingMap

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Detailed Description

Definition at line 62 of file MapHelper.hpp.

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Constructor & Destructor Documentation

robot_model_services::MapHelper::MapHelper	(	const std::string &	mapTopicName = "map",
		const std::string &	getPlanServiceName = "move_base/make_plan"
	)		[inline]

Definition at line 76 of file MapHelper.hpp.

virtual robot_model_services::MapHelper::~MapHelper

(

)

[inline, virtual]

Definition at line 111 of file MapHelper.hpp.

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Member Function Documentation

void robot_model_services::MapHelper::aggregateRaytracingMap

(

)

[inline, private]

Definition at line 149 of file MapHelper.hpp.

bool robot_model_services::MapHelper::doRaytracing	(	const SimpleVector3 &	fromPoint,
		const SimpleVector3 &	toPoint
	)		[inline]

Definition at line 235 of file MapHelper.hpp.

bool robot_model_services::MapHelper::doRaytracing	(	const SimpleVector3 &	fromPoint,
		const SimpleVector3 &	toPoint,
		Ray &	ray
	)		[inline]

Definition at line 241 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getCollisionThreshold

(

)

[inline]

Definition at line 396 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getCostmapOccupancyValue

(

const SimpleVector3 &

position

)

[inline]

Definition at line 218 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getCostmapOccupancyValue	(	const int32_t &	mapX,
		const int32_t &	mapY
	)		[inline]

Definition at line 222 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getMapOccupancyValue

(

const SimpleVector3 &

position

)

[inline]

Definition at line 209 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getMapOccupancyValue	(	const int32_t &	mapX,
		const int32_t &	mapY
	)		[inline]

Definition at line 213 of file MapHelper.hpp.

float robot_model_services::MapHelper::getMetricHeight

(

)

[inline]

Definition at line 340 of file MapHelper.hpp.

float robot_model_services::MapHelper::getMetricWidth

(

)

[inline]

Definition at line 336 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getOccupancyValue	(	const nav_msgs::OccupancyGrid &	map,
		const SimpleVector3 &	position
	)		[inline, private]

Definition at line 173 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getOccupancyValue	(	const costmap_2d::Costmap2D &	costmap,
		const SimpleVector3 &	position
	)		[inline, private]

Definition at line 179 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getOccupancyValue	(	const nav_msgs::OccupancyGrid &	map,
		const int32_t &	mapX,
		const int32_t &	mapY
	)		[inline, private]

Definition at line 185 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getOccupancyValue	(	const costmap_2d::Costmap2D &	costmap,
		const int32_t &	mapX,
		const int32_t &	mapY
	)		[inline, private]

Definition at line 196 of file MapHelper.hpp.

SimpleQuaternion robot_model_services::MapHelper::getOrientation

(

)

[inline]

Definition at line 384 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getRaytracingMapOccupancyValue

(

const SimpleVector3 &

position

)

[inline]

Definition at line 227 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::getRaytracingMapOccupancyValue	(	const int32_t &	mapX,
		const int32_t &	mapY
	)		[inline]

Definition at line 231 of file MapHelper.hpp.

float robot_model_services::MapHelper::getSquaredDistance	(	const SimpleVector3 &	start,
		const SimpleVector3 &	goal
	)		[inline]

Definition at line 400 of file MapHelper.hpp.

SimpleVector3 robot_model_services::MapHelper::getTranslation

(

)

[inline]

Definition at line 380 of file MapHelper.hpp.

bool robot_model_services::MapHelper::isOccupancyValueAcceptable

(

const int8_t &

occupancyValue

)

[inline]

Definition at line 388 of file MapHelper.hpp.

void robot_model_services::MapHelper::mapReceived

(

nav_msgs::OccupancyGrid

map

)

[inline, private]

Definition at line 113 of file MapHelper.hpp.

void robot_model_services::MapHelper::mapToWorldCoordinates	(	const int32_t &	x,
		const int32_t &	y,
		SimpleVector3 &	result
	)		[inline]

Definition at line 362 of file MapHelper.hpp.

void robot_model_services::MapHelper::mapToWorldCoordinates	(	const SimpleVector3 &	position,
		SimpleVector3 &	result
	)		[inline]

Definition at line 366 of file MapHelper.hpp.

void robot_model_services::MapHelper::mapToWorldSize	(	const double &	size,
		double &	result
	)		[inline]

Definition at line 372 of file MapHelper.hpp.

void robot_model_services::MapHelper::setCollisionThreshold

(

int8_t

thresholdValue

)

[inline]

Definition at line 392 of file MapHelper.hpp.

void robot_model_services::MapHelper::setCostmap

(

)

[inline, private]

Definition at line 128 of file MapHelper.hpp.

void robot_model_services::MapHelper::worldToMapCoordinates	(	const SimpleVector3 &	position,
		int32_t &	x,
		int32_t &	y
	)		[inline]

Definition at line 344 of file MapHelper.hpp.

void robot_model_services::MapHelper::worldToMapCoordinates	(	const SimpleVector3 &	position,
		SimpleVector3 &	result
	)		[inline]

Definition at line 353 of file MapHelper.hpp.

void robot_model_services::MapHelper::worldToMapSize	(	const double &	size,
		double &	result
	)		[inline]

Definition at line 376 of file MapHelper.hpp.

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Member Data Documentation

int8_t robot_model_services::MapHelper::mCollisionThreshold [private]

Definition at line 67 of file MapHelper.hpp.

costmap_2d::Costmap2D robot_model_services::MapHelper::mCostmap [private]

Definition at line 71 of file MapHelper.hpp.

int8_t robot_model_services::MapHelper::mCostTranslationTable[256] [private]

Definition at line 74 of file MapHelper.hpp.

DebugHelperPtr robot_model_services::MapHelper::mDebugHelperPtr [private]

Definition at line 64 of file MapHelper.hpp.

ros::ServiceClient robot_model_services::MapHelper::mGetPlanServiceClient [private]

Definition at line 69 of file MapHelper.hpp.

ros::NodeHandle robot_model_services::MapHelper::mGlobalNodeHandle [private]

Definition at line 68 of file MapHelper.hpp.

nav_msgs::OccupancyGrid robot_model_services::MapHelper::mMap [private]

Definition at line 70 of file MapHelper.hpp.

bool robot_model_services::MapHelper::mMapReceived [private]

Definition at line 66 of file MapHelper.hpp.

nav_msgs::OccupancyGrid robot_model_services::MapHelper::mRaytracingMap [private]

Definition at line 72 of file MapHelper.hpp.

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

• MapHelper.hpp