cartographer::mapping::Grid2D Class Reference

#include <grid_2d.h>

Inheritance diagram for cartographer::mapping::Grid2D:

List of all members.

Public Member Functions
virtual std::unique_ptr< Grid2D >	ComputeCroppedGrid () const =0
void	ComputeCroppedLimits (Eigen::Array2i *const offset, CellLimits *const limits) const
virtual bool	DrawToSubmapTexture (proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const =0
void	FinishUpdate ()
float	GetCorrespondenceCost (const Eigen::Array2i &cell_index) const
virtual GridType	GetGridType () const =0
float	GetMaxCorrespondenceCost () const
float	GetMinCorrespondenceCost () const
	Grid2D (const MapLimits &limits, float min_correspondence_cost, float max_correspondence_cost, ValueConversionTables *conversion_tables)
	Grid2D (const proto::Grid2D &proto, ValueConversionTables *conversion_tables)
virtual void	GrowLimits (const Eigen::Vector2f &point)
bool	IsKnown (const Eigen::Array2i &cell_index) const
const MapLimits &	limits () const
virtual proto::Grid2D	ToProto () const
Protected Member Functions
const std::vector< uint16 > &	correspondence_cost_cells () const
void	GrowLimits (const Eigen::Vector2f &point, const std::vector< std::vector< uint16 > * > &grids, const std::vector< uint16 > &grids_unknown_cell_values)
const Eigen::AlignedBox2i &	known_cells_box () const
std::vector< uint16 > *	mutable_correspondence_cost_cells ()
Eigen::AlignedBox2i *	mutable_known_cells_box ()
std::vector< int > *	mutable_update_indices ()
int	ToFlatIndex (const Eigen::Array2i &cell_index) const
const std::vector< int > &	update_indices () const
Private Attributes
std::vector< uint16 >	correspondence_cost_cells_
Eigen::AlignedBox2i	known_cells_box_
MapLimits	limits_
float	max_correspondence_cost_
float	min_correspondence_cost_
std::vector< int >	update_indices_
const std::vector< float > *	value_to_correspondence_cost_table_

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Detailed Description

Definition at line 38 of file grid_2d.h.

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Constructor & Destructor Documentation

cartographer::mapping::Grid2D::Grid2D	(	const MapLimits &	limits,
		float	min_correspondence_cost,
		float	max_correspondence_cost,
		ValueConversionTables *	conversion_tables
	)

Definition at line 60 of file grid_2d.cc.

cartographer::mapping::Grid2D::Grid2D	(	const proto::Grid2D &	proto,
		ValueConversionTables *	conversion_tables
	)		[explicit]

Definition at line 75 of file grid_2d.cc.

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Member Function Documentation

virtual std::unique_ptr<Grid2D> cartographer::mapping::Grid2D::ComputeCroppedGrid

(

)

const [pure virtual]

Implemented in cartographer::mapping::ProbabilityGrid, and cartographer::mapping::TSDF2D.

void cartographer::mapping::Grid2D::ComputeCroppedLimits	(	Eigen::Array2i *const	offset,
		CellLimits *const	limits
	)		const

Definition at line 110 of file grid_2d.cc.

const std::vector<uint16>& cartographer::mapping::Grid2D::correspondence_cost_cells

(

)

const [inline, protected]

Definition at line 97 of file grid_2d.h.

virtual bool cartographer::mapping::Grid2D::DrawToSubmapTexture	(	proto::SubmapQuery::Response::SubmapTexture *const	texture,
		transform::Rigid3d	local_pose
	)		const [pure virtual]

Implemented in cartographer::mapping::ProbabilityGrid, and cartographer::mapping::TSDF2D.

void cartographer::mapping::Grid2D::FinishUpdate

(

)

Definition at line 99 of file grid_2d.cc.

float cartographer::mapping::Grid2D::GetCorrespondenceCost

(

const Eigen::Array2i &

cell_index

)

const [inline]

Definition at line 53 of file grid_2d.h.

virtual GridType cartographer::mapping::Grid2D::GetGridType

(

)

const [pure virtual]

Implemented in cartographer::mapping::ProbabilityGrid, and cartographer::mapping::TSDF2D.

float cartographer::mapping::Grid2D::GetMaxCorrespondenceCost

(

)

const [inline]

Definition at line 65 of file grid_2d.h.

float cartographer::mapping::Grid2D::GetMinCorrespondenceCost

(

)

const [inline]

Definition at line 62 of file grid_2d.h.

void cartographer::mapping::Grid2D::GrowLimits

(

const Eigen::Vector2f &

point

)

[virtual]

Reimplemented in cartographer::mapping::TSDF2D.

Definition at line 125 of file grid_2d.cc.

void cartographer::mapping::Grid2D::GrowLimits	(	const Eigen::Vector2f &	point,
		const std::vector< std::vector< uint16 > * > &	grids,
		const std::vector< uint16 > &	grids_unknown_cell_values
	)		[protected]

Definition at line 130 of file grid_2d.cc.

bool cartographer::mapping::Grid2D::IsKnown

(

const Eigen::Array2i &

cell_index

)

const [inline]

Definition at line 68 of file grid_2d.h.

const Eigen::AlignedBox2i& cartographer::mapping::Grid2D::known_cells_box

(

)

const [inline, protected]

Definition at line 101 of file grid_2d.h.

const MapLimits& cartographer::mapping::Grid2D::limits

(

)

const [inline]

Definition at line 47 of file grid_2d.h.

std::vector<uint16>* cartographer::mapping::Grid2D::mutable_correspondence_cost_cells

(

)

[inline, protected]

Definition at line 105 of file grid_2d.h.

Eigen::AlignedBox2i* cartographer::mapping::Grid2D::mutable_known_cells_box

(

)

[inline, protected]

Definition at line 110 of file grid_2d.h.

std::vector<int>* cartographer::mapping::Grid2D::mutable_update_indices

(

)

[inline, protected]

Definition at line 109 of file grid_2d.h.

int cartographer::mapping::Grid2D::ToFlatIndex

(

const Eigen::Array2i &

cell_index

)

const [inline, protected]

Definition at line 113 of file grid_2d.h.

proto::Grid2D cartographer::mapping::Grid2D::ToProto

(

)

const [virtual]

Reimplemented in cartographer::mapping::ProbabilityGrid, and cartographer::mapping::TSDF2D.

Definition at line 166 of file grid_2d.cc.

const std::vector<int>& cartographer::mapping::Grid2D::update_indices

(

)

const [inline, protected]

Definition at line 100 of file grid_2d.h.

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Member Data Documentation

std::vector<uint16> cartographer::mapping::Grid2D::correspondence_cost_cells_ [private]

Definition at line 120 of file grid_2d.h.

Eigen::AlignedBox2i cartographer::mapping::Grid2D::known_cells_box_ [private]

Definition at line 126 of file grid_2d.h.

MapLimits cartographer::mapping::Grid2D::limits_ [private]

Definition at line 119 of file grid_2d.h.

float cartographer::mapping::Grid2D::max_correspondence_cost_ [private]

Definition at line 122 of file grid_2d.h.

float cartographer::mapping::Grid2D::min_correspondence_cost_ [private]

Definition at line 121 of file grid_2d.h.

std::vector<int> cartographer::mapping::Grid2D::update_indices_ [private]

Definition at line 123 of file grid_2d.h.

const std::vector<float>* cartographer::mapping::Grid2D::value_to_correspondence_cost_table_ [private]

Definition at line 127 of file grid_2d.h.

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

• grid_2d.h
• grid_2d.cc