#include <cost_map.hpp>

Public Types
typedef cost_map::Matrix::Scalar	DataType
typedef cost_map::Matrix	Matrix
Public Member Functions
void	add (const std::string &layer, const DataType value=NO_INFORMATION)
void	add (const std::string &layer, const Matrix &data)
bool	addDataFrom (const CostMap &other, bool extendMap, bool overwriteData, bool copyAllLayers, std::vector< std::string > layers=std::vector< std::string >())
DataType &	at (const std::string &layer, const Index &index)
DataType	at (const std::string &layer, const Index &index) const
DataType &	atPosition (const std::string &layer, const Position &position)
DataType	atPosition (const std::string &layer, const Position &position, grid_map::InterpolationMethods interpolation_method=grid_map::InterpolationMethods::INTER_NEAREST) const
void	clear (const std::string &layer)
void	clearAll ()
void	clearBasic ()
	CostMap (const std::vector< std::string > &layers)
	CostMap ()
bool	erase (const std::string &layer)
bool	exists (const std::string &layer) const
bool	extendToInclude (const CostMap &other)
const Matrix &	get (const std::string &layer) const
Matrix &	get (const std::string &layer)
const std::vector< std::string > &	getBasicLayers () const
const std::string &	getFrameId () const
bool	getIndex (const Position &position, Index &index) const
const std::vector< std::string > &	getLayers () const
const Length &	getLength () const
bool	getPosition (const Index &index, Position &position) const
const Position &	getPosition () const
bool	getPosition3 (const std::string &layer, const Index &index, Position3 &position) const
double	getResolution () const
const Size &	getSize () const
const Index &	getStartIndex () const
CostMap	getSubmap (const Position &position, const Length &length, bool &isSuccess) const
CostMap	getSubmap (const Position &position, const Length &length, Index &indexInSubmap, bool &isSuccess) const
Time	getTimestamp () const
bool	getVector (const std::string &layerPrefix, const Index &index, Eigen::Vector3d &vector) const
bool	hasSameLayers (const CostMap &other) const
bool	isInside (const Position &position) const
bool	isValid (const Index &index) const
bool	isValid (const Index &index, const std::string &layer) const
bool	isValid (const Index &index, const std::vector< std::string > &layers) const
bool	move (const Position &position, std::vector< BufferRegion > &newRegions)
bool	move (const Position &position)
const Matrix &	operator[] (const std::string &layer) const
Matrix &	operator[] (const std::string &layer)
void	resetTimestamp ()
void	setBasicLayers (const std::vector< std::string > &basicLayers)
void	setFrameId (const std::string &frameId)
void	setGeometry (const Length &length, const double resolution, const Position &position=Position::Zero())
void	setGeometry (const SubmapGeometry &geometry)
void	setPosition (const Position &position)
void	setStartIndex (const Index &startIndex)
void	setTimestamp (const Time timestamp)
virtual	~CostMap ()
Private Member Functions
bool	atPositionLinearInterpolated (const std::string &layer, const Position &position, float &value) const
void	clearCols (unsigned int index, unsigned int nCols)
void	clearRows (unsigned int index, unsigned int nRows)
void	resize (const Eigen::Array2i &bufferSize)
Private Attributes
std::vector< std::string >	basicLayers_
std::unordered_map < std::string, Matrix >	data_
	Grid map data stored as layers of matrices.
std::string	frameId_
	Frame id of the grid map.
std::vector< std::string >	layers_
	Names of the data layers.
Length	length_
	Side length of the map in x- and y-direction [m].
Position	position_
	Map position in the grid map frame [m].
double	resolution_
	Map resolution in xy plane [m/cell].
Size	size_
	Size of the buffer (rows and cols of the data structure).
Index	startIndex_
	Circular buffer start indeces.
Time	timestamp_
	Timestamp of the grid map (nanoseconds).

Detailed Description

Grid map managing multiple overlaying maps holding float values. Data structure implemented as two-dimensional circular buffer so map can be moved efficiently.

Data is defined with string keys. Examples are:

"elevation"
"variance"
"color"
"quality"
"surface_normal_x", "surface_normal_y", "surface_normal_z" etc.

Definition at line 34 of file cost_map.hpp.

Member Typedef Documentation

typedef cost_map::Matrix::Scalar cost_map::CostMap::DataType

Storage element type for this map.

Definition at line 38 of file cost_map.hpp.

typedef cost_map::Matrix cost_map::CostMap::Matrix

Storage container type for this map.

Definition at line 39 of file cost_map.hpp.

Constructor & Destructor Documentation

cost_map::CostMap::CostMap ( const std::vector< std::string > & layers )

Constructor.

Parameters:

layers a vector of strings containing the definition/description of the data layer.

Definition at line 19 of file src/lib/cost_map.cpp.

cost_map::CostMap::CostMap ( )

Emtpy constructor.

Definition at line 34 of file src/lib/cost_map.cpp.

cost_map::CostMap::~CostMap ( ) [virtual]

Destructor.

Definition at line 39 of file src/lib/cost_map.cpp.

Member Function Documentation

void cost_map::CostMap::add	(	const std::string &	layer,
		const DataType	value = `NO_INFORMATION`
	)

Add a new empty data layer.

Parameters:

layer the name of the layer. value the value to initialize the cells with.

Definition at line 87 of file src/lib/cost_map.cpp.

void cost_map::CostMap::add	(	const std::string &	layer,
		const Matrix &	data
	)

Add a new data layer (if the layer already exists, overwrite its data, otherwise add layer and data).

Parameters:

layer	the name of the layer.
data	the data to be added.

Definition at line 92 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::addDataFrom	(	const CostMap &	other,
		bool	extendMap,
		bool	overwriteData,
		bool	copyAllLayers,
		std::vector< std::string >	layers = `std::vector<std::string>()`
	)

Adds data from an other grid map to this grid map

Parameters:

other	the grid map to take data from.
extendMap	if true the grid map is resized that the other map fits within.
overwriteData	if true the new data replaces the old values, else only invalid cells are updated.
copyAllLayer	if true all layers are used to add data.
layers	the layers that are copied if not all layers are used.

Returns:: true if successful.

Definition at line 401 of file src/lib/cost_map.cpp.

DataType & cost_map::CostMap::at	(	const std::string &	layer,
		const Index &	index
	)

Get cell data for requested index.

Parameters:

layer	the name of the layer to be accessed.
index	the requested index.

Returns:: the data of the cell.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 196 of file src/lib/cost_map.cpp.

DataType cost_map::CostMap::at	(	const std::string &	layer,
		const Index &	index
	)		const

Get cell data for requested index. Const version form above.

Parameters:

layer	the name of the layer to be accessed.
index	the requested index.

Returns:: the data of the cell.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 205 of file src/lib/cost_map.cpp.

DataType & cost_map::CostMap::atPosition	(	const std::string &	layer,
		const Position &	position
	)

Get cell data at requested position.

Parameters:

layer	the name of the layer to be accessed.
position	the requested position.

Returns:: the data of the cell.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 161 of file src/lib/cost_map.cpp.

DataType cost_map::CostMap::atPosition	(	const std::string &	layer,
		const Position &	position,
		grid_map::InterpolationMethods	interpolation_method = `grid_map::InterpolationMethods::INTER_NEAREST`
	)		const

Get cell data at requested position. Const version form above.

Parameters:

layer	the name of the layer to be accessed.
position	the requested position.

Returns:: the data of the cell.

Exceptions:

std::out_of_range	if no map layer with name `layer` is present.
std::runtime_error	if the specified interpolation method is not implemented.

Definition at line 170 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::atPositionLinearInterpolated	(	const std::string &	layer,
		const Position &	position,
		float &	value
	)		const `[private]`

Get cell data at requested position, linearly interpolated from 2x2 cells.

Parameters:

layer	the name of the layer to be accessed.
position	the requested position.
value	the data of the cell.

Returns:: true if linear interpolation was successful.

Definition at line 602 of file src/lib/cost_map.cpp.

void cost_map::CostMap::clear ( const std::string & layer )

Clears all cells (set to NAN) for a layer.

Parameters:

layer the layer to be cleared.

Definition at line 559 of file src/lib/cost_map.cpp.

void cost_map::CostMap::clearAll ( )

Clears all cells of all layers. If basic layers are used, clearBasic() is preferred as it is more efficient. Header information (geometry etc.) remains valid.

Definition at line 575 of file src/lib/cost_map.cpp.

void cost_map::CostMap::clearBasic ( )

Clears all cells (set to NAN) for all basic layers. Header information (geometry etc.) remains valid.

Definition at line 568 of file src/lib/cost_map.cpp.

void cost_map::CostMap::clearCols	(	unsigned int	index,
		unsigned int	nCols
	)		`[private]`

Clear a number of columns of the grid map.

Parameters:

index	the left index for the columns to be reset.
nCols	the number of columns to reset.

Definition at line 592 of file src/lib/cost_map.cpp.

void cost_map::CostMap::clearRows	(	unsigned int	index,
		unsigned int	nRows
	)		`[private]`

Clear a number of rows of the grid map.

Parameters:

index	the upper index for the rows to be reset.
nRows	the number of rows to reset.

Definition at line 582 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::erase ( const std::string & layer )

Removes a layer from the grid map.

Parameters:

layer the name of the layer to be removed.

Returns:: true if successful.

Definition at line 140 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::exists ( const std::string & layer ) const

Checks if data layer exists.

Parameters:

layer the name of the layer.

Returns:: true if layer exists, false otherwise.

Definition at line 107 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::extendToInclude ( const CostMap & other )

Extends the size of the grip map such that the other grid map fits within.

Parameters:

other the grid map to extend the size to.

Returns:: true if successful.

Definition at line 433 of file src/lib/cost_map.cpp.

const cost_map::Matrix & cost_map::CostMap::get ( const std::string & layer ) const

Returns the grid map data for a layer as matrix.

Parameters:

layer the name of the layer to be returned.

Returns:: grid map data as matrix.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 112 of file src/lib/cost_map.cpp.

cost_map::Matrix & cost_map::CostMap::get ( const std::string & layer )

Returns the grid map data for a layer as non-const. Use this method with care!

Parameters:

layer the name of the layer to be returned.

Returns:: grid map data.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 121 of file src/lib/cost_map.cpp.

const std::vector< std::string > & cost_map::CostMap::getBasicLayers ( ) const

Gets the names of the basic layers.

Returns:: the names of the basic layers.

Definition at line 74 of file src/lib/cost_map.cpp.

const std::string & cost_map::CostMap::getFrameId ( ) const

Get the frameId of the grid map.

Returns:: frameId.

Definition at line 525 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::getIndex	(	const Position &	position,
		cost_map::Index &	index
	)		const

Gets the corresponding cell index for a position.

Parameters:

[in]	position	the requested position.
[out]	index	the corresponding index.

Returns:: true if successful, false if position outside of map.

Definition at line 214 of file src/lib/cost_map.cpp.

const std::vector< std::string > & cost_map::CostMap::getLayers ( ) const

Gets the names of the layers.

Returns:: the names of the layers.

Definition at line 156 of file src/lib/cost_map.cpp.

const Eigen::Array2d & cost_map::CostMap::getLength ( ) const

Get the side length of the grid map.

Returns:: side length of the grid map.

Definition at line 530 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::getPosition	(	const Index &	index,
		cost_map::Position &	position
	)		const

Gets the 2d position of cell specified by the index (x, y of cell position) in the grid map frame.

Parameters:

[in]	index	the index of the requested cell.
[out]	position	the position of the data point in the parent frame.

Returns:: true if successful, false if index not within range of buffer.

Definition at line 219 of file src/lib/cost_map.cpp.

const Eigen::Vector2d & cost_map::CostMap::getPosition ( ) const

Get the 2d position of the grid map in the grid map frame.

Returns:: position of the grid map in the grid map frame.

Definition at line 535 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::getPosition3	(	const std::string &	layer,
		const Index &	index,
		cost_map::Position3 &	position
	)		const

Gets the 3d position of a data point (x, y of cell position & cell value as z) in the grid map frame. This is useful for data layers such as elevation.

Parameters:

layer	the name of the layer to be accessed.
index	the index of the requested cell.
position	the position of the data point in the parent frame.

Returns:: true if successful, false if no valid data available.

Definition at line 248 of file src/lib/cost_map.cpp.

double cost_map::CostMap::getResolution ( ) const

Get the resolution of the grid map.

Returns:: resolution of the grid map in the xy plane [m/cell].

Definition at line 540 of file src/lib/cost_map.cpp.

const cost_map::Size & cost_map::CostMap::getSize ( ) const

Get the grid map size (rows and cols of the data structure).

Returns:: grid map size.

Definition at line 545 of file src/lib/cost_map.cpp.

const cost_map::Index & cost_map::CostMap::getStartIndex ( ) const

Get the start index of the circular buffer.

Returns:: buffer start index.

Definition at line 554 of file src/lib/cost_map.cpp.

CostMap cost_map::CostMap::getSubmap	(	const Position &	position,
		const Length &	length,
		bool &	isSuccess
	)		const

Gets a submap from the map. The requested submap is specified with the requested location and length.

Parameters:

[in]	position	the requested position of the submap (usually the center).
[in]	length	the requested length of the submap.
[out]	isSuccess	true if successful, false otherwise.

Returns:: submap (is empty if success is false).

Definition at line 273 of file src/lib/cost_map.cpp.

CostMap cost_map::CostMap::getSubmap	(	const Position &	position,
		const Length &	length,
		cost_map::Index &	indexInSubmap,
		bool &	isSuccess
	)		const

Gets a submap from the map. The requested submap is specified with the requested location and length.

Parameters:

[in]	position	the requested position of the submap (usually the center).
[in]	length	the requested length of the submap.
[out]	indexInSubmap	the index of the requested position in the submap.
[out]	isSuccess	true if successful, false otherwise.

Returns:: submap (is empty if success is false).

Definition at line 280 of file src/lib/cost_map.cpp.

Time cost_map::CostMap::getTimestamp ( ) const

Get the timestamp of the grid map.

Returns:: timestamp in nanoseconds.

Definition at line 510 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::getVector	(	const std::string &	layerPrefix,
		const Index &	index,
		Eigen::Vector3d &	vector
	)		const

Gets the 3d vector of three layers with suffixes 'x', 'y', and 'z'.

Parameters:

layerPrefix	the prefix for the layer to bet get as vector.
index	the index of the requested cell.
vector	the vector with the values of the data type.

Returns:: true if successful, false if no valid data available.

Definition at line 259 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::hasSameLayers ( const CostMap & other ) const

Checks if another grid map contains the same layers as this grid map. The other grid map could contain more layers than the checked ones. Does not check the selection of basic layers.

Parameters:

other the other grid map.

Returns:: true if the other grid map has the same layers, false otherwise.

Definition at line 79 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::isInside ( const Position & position ) const

Check if position is within the map boundaries.

Parameters:

position the position to be checked.

Returns:: true if position is within map, false otherwise.

Definition at line 224 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::isValid ( const Index & index ) const

Checks if the index of all layers defined as basic types are valid, i.e. if all basic types are finite. Returns `false` if no basic types are defined.

For cost maps, this currently always returns true (cells are always initialised at zero, not nan).

Parameters:

index the index to check.

Returns:: true if cell is valid, false otherwise.

Definition at line 229 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::isValid	(	const Index &	index,
		const std::string &	layer
	)		const

Checks if cell at index is a valid (finite) for a certain layer.

For cost maps, this currently always returns true (cells are always initialised at zero, not nan).

Parameters:

index	the index to check.
layer	the name of the layer to be checked for validity.

Returns:: true if cell is valid, false otherwise.

Definition at line 234 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::isValid	(	const Index &	index,
		const std::vector< std::string > &	layers
	)		const

Checks if cell at index is a valid (finite) for certain layers.

For cost maps, this currently always returns true (cells are always initialised at zero, not nan).

Parameters:

index	the index to check.
layers	the layers to be checked for validity.

Returns:: true if cell is valid, false otherwise.

Definition at line 239 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::move	(	const Position &	position,
		std::vector< BufferRegion > &	newRegions
	)

Move the grid map w.r.t. to the grid map frame. Use this to move the grid map boundaries without moving the grid map data. Takes care of all the data handling, such that the grid map data is stationary in the grid map frame.

Parameters:

position	the new location of the grid map in the map frame.
newRegions	the regions of the newly covered / previously uncovered regions of the buffer.

Returns:: true if map has been moved, false otherwise.

Definition at line 327 of file src/lib/cost_map.cpp.

bool cost_map::CostMap::move ( const Position & position )

Move the grid map w.r.t. to the grid map frame. Use this to move the grid map boundaries without moving the grid map data. Takes care of all the data handling, such that the grid map data is stationary in the grid map frame.

Parameters:

position the new location of the grid map in the map frame.

Returns:: true if map has been moved, false otherwise.

Definition at line 395 of file src/lib/cost_map.cpp.

const cost_map::Matrix & cost_map::CostMap::operator[] ( const std::string & layer ) const

Returns the grid map data for a layer as matrix.

Parameters:

layer the name of the layer to be returned.

Returns:: grid map data as matrix.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 130 of file src/lib/cost_map.cpp.

cost_map::Matrix & cost_map::CostMap::operator[] ( const std::string & layer )

Returns the grid map data for a layer as non-const. Use this method with care!

Parameters:

layer the name of the layer to be returned.

Returns:: grid map data.

Exceptions:

std::out_of_range if no map layer with name `layer` is present.

Definition at line 135 of file src/lib/cost_map.cpp.

void cost_map::CostMap::resetTimestamp ( )

Resets the timestamp of the grid map (to zero).

Definition at line 515 of file src/lib/cost_map.cpp.

void cost_map::CostMap::resize ( const Eigen::Array2i & bufferSize ) [private]

Resize the buffer.

Parameters:

bufferSize the requested buffer size.

Definition at line 647 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setBasicLayers ( const std::vector< std::string > & basicLayers )

Set the basic layers that need to be valid for a cell to be considered as valid. Also, the basic layers are set to NAN when clearing the cells with `clearBasic()`. By default the list of basic layers is empty.

Parameters:

basicLayers the list of layers that are the basic layers of the map.

Definition at line 69 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setFrameId ( const std::string & frameId )

Set the frame id of the grid map.

Parameters:

frameId the frame id to set.

Definition at line 520 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setGeometry	(	const Length &	length,
		const double	resolution,
		const Position &	position = `Position::Zero()`
	)

Set the geometry of the grid map. Clears all the data.

Parameters:

length	the side lengths in x, and y-direction of the grid map [m].
resolution	the cell size in [m/cell].
position	the 2d position of the grid map in the grid map frame [m].

Definition at line 43 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setGeometry ( const SubmapGeometry & geometry )

Set the geometry of the grid map from submap geometry information.

Parameters:

geometry the submap geometry information.

Definition at line 64 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setPosition ( const Position & position ) [inline]

Set the position of the grid map.

Parameters:

position the 2d position of the grid map in the grid map frame [m].

Definition at line 76 of file cost_map.hpp.

void cost_map::CostMap::setStartIndex ( const Index & startIndex )

Set the start index of the circular buffer. Use this method with caution!

Returns:: buffer start index.

Definition at line 550 of file src/lib/cost_map.cpp.

void cost_map::CostMap::setTimestamp ( const Time timestamp )

Set the timestamp of the grid map.

Parameters:

timestamp the timestamp to set (in nanoseconds).

Definition at line 505 of file src/lib/cost_map.cpp.

Member Data Documentation

std::vector<std::string> cost_map::CostMap::basicLayers_ [private]

List of layers from `data_` that are the basic grid map layers. This means that for a cell to be valid, all basic layers need to be valid. Also, the basic layers are set to NAN when clearing the map with `clear()`.

Definition at line 483 of file cost_map.hpp.

std::unordered_map<std::string, Matrix> cost_map::CostMap::data_ [private]

Grid map data stored as layers of matrices.

Definition at line 475 of file cost_map.hpp.

std::string cost_map::CostMap::frameId_ [private]

Frame id of the grid map.

Definition at line 469 of file cost_map.hpp.

std::vector<std::string> cost_map::CostMap::layers_ [private]

Names of the data layers.

Definition at line 478 of file cost_map.hpp.

Length cost_map::CostMap::length_ [private]

Side length of the map in x- and y-direction [m].