costmap_converter Namespace Reference

Classes
class	BaseCostmapToDynamicObstacles
class	BaseCostmapToPolygons
	This abstract class defines the interface for plugins that convert the costmap into polygon types. More...
class	CostmapToDynamicObstacles
	This class converts the costmap_2d into dynamic obstacles. More...
class	CostmapToLinesDBSMCCH
	This class converts the costmap_2d into a set of lines (and points) More...
class	CostmapToLinesDBSRANSAC
	This class converts the costmap_2d into a set of lines (and points) More...
class	CostmapToPolygonsDBSConcaveHull
	This class converts the costmap_2d into a set of non-convex polygons (and points) More...
class	CostmapToPolygonsDBSMCCH
	This class converts the costmap_2d into a set of convex polygons (and points) More...
Typedefs
typedef CostmapToLinesDBSMCCH	CL
typedef boost::shared_ptr < const ObstacleArrayMsg >	ObstacleArrayConstPtr
	Typedef for a shared dynamic obstacle container (read-only access)
typedef boost::shared_ptr < ObstacleArrayMsg >	ObstacleArrayPtr
	Typedef for a shared dynamic obstacle container.
typedef boost::shared_ptr < const std::vector < geometry_msgs::Polygon > >	PolygonContainerConstPtr
	Typedef for a shared polygon container (read-only access)
typedef boost::shared_ptr < std::vector < geometry_msgs::Polygon > >	PolygonContainerPtr
	Typedef for a shared polygon container.
Functions
template<typename Point , typename LinePoint >
double	computeDistanceToLine (const Point &point, const LinePoint &line_pt1, const LinePoint &line_pt2)
	Calculate the distance between a point and a straight line (with infinite length)
template<typename Point , typename LinePoint >
double	computeDistanceToLineSegment (const Point &point, const LinePoint &line_start, const LinePoint &line_end, bool *is_inbetween=NULL)
	Calculate the distance between a point and a straight line segment.
template<typename Point1 , typename Point2 >
bool	isApprox2d (const Point1 &pt1, const Point2 &pt2, double threshold)
	Check if two points are approximately defining the same one.
bool	isXCoordinateSmaller (const CostmapToPolygonsDBSMCCH::KeyPoint &p1, const CostmapToPolygonsDBSMCCH::KeyPoint &p2)
template<typename Point1 , typename Point2 >
double	norm2d (const Point1 &pt1, const Point2 &pt2)
	Calculate the distance between two 2d points.
bool	sort_keypoint_x (const std::size_t &i, const std::size_t &j, const std::vector< CL::KeyPoint > &cluster)
bool	sort_keypoint_y (const std::size_t &i, const std::size_t &j, const std::vector< CL::KeyPoint > &cluster)

---

Typedef Documentation

typedef CostmapToLinesDBSMCCH costmap_converter::CL

Definition at line 133 of file costmap_to_lines_convex_hull.cpp.

typedef boost::shared_ptr< const ObstacleArrayMsg > costmap_converter::ObstacleArrayConstPtr

Typedef for a shared dynamic obstacle container (read-only access)

Definition at line 57 of file costmap_converter_interface.h.

typedef boost::shared_ptr<ObstacleArrayMsg> costmap_converter::ObstacleArrayPtr

Typedef for a shared dynamic obstacle container.

Definition at line 55 of file costmap_converter_interface.h.

typedef boost::shared_ptr< const std::vector<geometry_msgs::Polygon> > costmap_converter::PolygonContainerConstPtr

Typedef for a shared polygon container (read-only access)

Definition at line 62 of file costmap_converter_interface.h.

typedef boost::shared_ptr< std::vector<geometry_msgs::Polygon> > costmap_converter::PolygonContainerPtr

Typedef for a shared polygon container.

Definition at line 60 of file costmap_converter_interface.h.

---

Function Documentation

template<typename Point , typename LinePoint >

double costmap_converter::computeDistanceToLine	(	const Point &	point,
		const LinePoint &	line_pt1,
		const LinePoint &	line_pt2
	)		[inline]

Calculate the distance between a point and a straight line (with infinite length)

Parameters:

point	generic 2D point type defining the reference point
line_pt1	generic 2D point as part of the line
line_pt2	generic 2D point as part of the line

Template Parameters:

Point	generic point type that should provide x and y member fiels.
LinePoint	generic point type that should provide x and y member fiels.

Returns:

(minimum) euclidean distance to the line segment

Definition at line 58 of file misc.h.

template<typename Point , typename LinePoint >

double costmap_converter::computeDistanceToLineSegment	(	const Point &	point,
		const LinePoint &	line_start,
		const LinePoint &	line_end,
		bool *	is_inbetween = NULL
	)		[inline]

Calculate the distance between a point and a straight line segment.

Parameters:

	point	generic 2D point type defining the reference point
	line_start	generic 2D point type defining the start of the line
	line_end	generic 2D point type defining the end of the line
[out]	is_inbetween	write true, if the point is placed inbetween start and end [optional]

Template Parameters:

Point	generic point type that should provide x and y member fiels.
LinePoint	generic point type that should provide x and y member fiels.

Returns:

(minimum) euclidean distance to the line segment

Definition at line 83 of file misc.h.

template<typename Point1 , typename Point2 >

bool costmap_converter::isApprox2d	(	const Point1 &	pt1,
		const Point2 &	pt2,
		double	threshold
	)		[inline]

Check if two points are approximately defining the same one.

Parameters:

pt1	generic 2D point
pt2	generic 2D point
threshold	define the minimum threshold |pt1.x-pt2.y| < tresh && |pt1.y-pt2.y| < tresh

Template Parameters:

Point1	generic point type that should provide x and y member fiels.
Point2	generic point type that should provide x and y member fiels.

Returns:

true, if similar, false otherwise

Definition at line 132 of file misc.h.

bool costmap_converter::isXCoordinateSmaller	(	const CostmapToPolygonsDBSMCCH::KeyPoint &	p1,
		const CostmapToPolygonsDBSMCCH::KeyPoint &	p2
	)

Definition at line 227 of file costmap_to_polygons.cpp.

template<typename Point1 , typename Point2 >

double costmap_converter::norm2d	(	const Point1 &	pt1,
		const Point2 &	pt2
	)		[inline]

Calculate the distance between two 2d points.

Parameters:

pt1	generic 2D point
pt2	generic 2D point

Template Parameters:

Point1	generic point type that should provide x and y member fiels.
Point2	generic point type that should provide x and y member fiels.

Returns:

euclidean distance to the line segment

Definition at line 117 of file misc.h.

bool costmap_converter::sort_keypoint_x	(	const std::size_t &	i,
		const std::size_t &	j,
		const std::vector< CL::KeyPoint > &	cluster
	)

Definition at line 134 of file costmap_to_lines_convex_hull.cpp.

bool costmap_converter::sort_keypoint_y	(	const std::size_t &	i,
		const std::size_t &	j,
		const std::vector< CL::KeyPoint > &	cluster
	)

Definition at line 136 of file costmap_to_lines_convex_hull.cpp.