#include <GridMap.hpp>

Public Types
typedef grid_map::DataType	DataType
typedef grid_map::Matrix	Matrix
Public Member Functions
void	add (const std::string &layer, const double value=NAN)
void	add (const std::string &layer, const Matrix &data)
bool	addDataFrom (const GridMap &other, bool extendMap, bool overwriteData, bool copyAllLayers, std::vector< std::string > layers=std::vector< std::string >())
float &	at (const std::string &layer, const Index &index)
float	at (const std::string &layer, const Index &index) const
float &	atPosition (const std::string &layer, const Position &position)
float	atPosition (const std::string &layer, const Position &position, InterpolationMethods interpolationMethod=InterpolationMethods::INTER_NEAREST) const
void	clear (const std::string &layer)
void	clearAll ()
void	clearBasic ()
void	convertToDefaultStartIndex ()
bool	erase (const std::string &layer)
bool	exists (const std::string &layer) const
bool	extendToInclude (const GridMap &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
GridMap	getSubmap (const Position &position, const Length &length, bool &isSuccess) const
GridMap	getSubmap (const Position &position, const Length &length, Index &indexInSubmap, bool &isSuccess) const
Time	getTimestamp () const
GridMap	getTransformedMap (const Eigen::Isometry3d &transform, const std::string &heightLayerName, const std::string &newFrameId, const double sampleRatio=0.0) const
bool	getVector (const std::string &layerPrefix, const Index &index, Eigen::Vector3d &vector) const
	GridMap (const std::vector< std::string > &layers)
	GridMap ()
	GridMap (const GridMap &)
	GridMap (GridMap &&)
bool	hasBasicLayers () const
bool	hasSameLayers (const grid_map::GridMap &other) const
bool	isDefaultStartIndex () 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)
GridMap &	operator= (const GridMap &)
GridMap &	operator= (GridMap &&)
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	~GridMap ()
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 Index &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 40 of file GridMap.hpp.

Member Typedef Documentation

typedef grid_map::DataType grid_map::GridMap::DataType

Definition at line 44 of file GridMap.hpp.

typedef grid_map::Matrix grid_map::GridMap::Matrix

Definition at line 45 of file GridMap.hpp.

Constructor & Destructor Documentation

grid_map::GridMap::GridMap ( const std::vector< std::string > & layers )

Constructor.

Parameters:

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

Definition at line 27 of file GridMap.cpp.

grid_map::GridMap::GridMap ( )

Emtpy constructor.

Definition at line 42 of file GridMap.cpp.

grid_map::GridMap::GridMap ( const GridMap & )

Default copy assign and copy constructors.

grid_map::GridMap::GridMap ( GridMap && )

grid_map::GridMap::~GridMap ( ) [virtual]

Destructor.

Definition at line 47 of file GridMap.cpp.

Member Function Documentation

void grid_map::GridMap::add	(	const std::string &	layer,
		const double	value = `NAN`
	)

Add a new empty data layer.

Parameters:

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

Definition at line 100 of file GridMap.cpp.

void grid_map::GridMap::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 105 of file GridMap.cpp.

bool grid_map::GridMap::addDataFrom	(	const GridMap &	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 527 of file GridMap.cpp.

float & grid_map::GridMap::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 209 of file GridMap.cpp.

float grid_map::GridMap::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 218 of file GridMap.cpp.

float & grid_map::GridMap::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 174 of file GridMap.cpp.

float grid_map::GridMap::atPosition	(	const std::string &	layer,
		const Position &	position,
		InterpolationMethods	interpolationMethod = `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 183 of file GridMap.cpp.

bool grid_map::GridMap::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 763 of file GridMap.cpp.

void grid_map::GridMap::clear ( const std::string & layer )

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

Parameters:

layer the layer to be cleared.

Definition at line 720 of file GridMap.cpp.

void grid_map::GridMap::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 736 of file GridMap.cpp.

void grid_map::GridMap::clearBasic ( )

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

Definition at line 729 of file GridMap.cpp.

void grid_map::GridMap::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 753 of file GridMap.cpp.

void grid_map::GridMap::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 743 of file GridMap.cpp.

void grid_map::GridMap::convertToDefaultStartIndex ( )

Rearranges data such that the buffer start index is at (0,0).

Definition at line 689 of file GridMap.cpp.

bool grid_map::GridMap::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 153 of file GridMap.cpp.

bool grid_map::GridMap::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 120 of file GridMap.cpp.

bool grid_map::GridMap::extendToInclude ( const GridMap & 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 559 of file GridMap.cpp.

const Matrix & grid_map::GridMap::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 125 of file GridMap.cpp.

Matrix & grid_map::GridMap::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 134 of file GridMap.cpp.

const std::vector< std::string > & grid_map::GridMap::getBasicLayers ( ) const

Gets the names of the basic layers.

Returns:: the names of the basic layers.

Definition at line 82 of file GridMap.cpp.

const std::string & grid_map::GridMap::getFrameId ( ) const

Get the frameId of the grid map.

Returns:: frameId.

Definition at line 650 of file GridMap.cpp.

bool grid_map::GridMap::getIndex	(	const Position &	position,
		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 227 of file GridMap.cpp.

const std::vector< std::string > & grid_map::GridMap::getLayers ( ) const

Gets the names of the layers.

Returns:: the names of the layers.

Definition at line 169 of file GridMap.cpp.

const Length & grid_map::GridMap::getLength ( ) const

Get the side length of the grid map.

Returns:: side length of the grid map.

Definition at line 655 of file GridMap.cpp.

bool grid_map::GridMap::getPosition	(	const Index &	index,
		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 232 of file GridMap.cpp.

const Position & grid_map::GridMap::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 660 of file GridMap.cpp.

bool grid_map::GridMap::getPosition3	(	const std::string &	layer,
		const Index &	index,
		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 262 of file GridMap.cpp.

double grid_map::GridMap::getResolution ( ) const

Get the resolution of the grid map.

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

Definition at line 665 of file GridMap.cpp.

const Size & grid_map::GridMap::getSize ( ) const

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

Returns:: grid map size.

Definition at line 670 of file GridMap.cpp.

const Index & grid_map::GridMap::getStartIndex ( ) const

Get the start index of the circular buffer.

Returns:: buffer start index.

Definition at line 679 of file GridMap.cpp.

GridMap grid_map::GridMap::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. Note: The returned submap may not have the requested length due to the borders of the map and discretization.

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 287 of file GridMap.cpp.

GridMap grid_map::GridMap::getSubmap	(	const Position &	position,
		const Length &	length,
		Index &	indexInSubmap,
		bool &	isSuccess
	)		const

Gets a submap from the map. The requested submap is specified with the requested location and length. Note: The returned submap may not have the requested length due to the borders of the map and discretization.

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 294 of file GridMap.cpp.

Time grid_map::GridMap::getTimestamp ( ) const

Get the timestamp of the grid map.

Returns:: timestamp in nanoseconds.

Definition at line 635 of file GridMap.cpp.

GridMap grid_map::GridMap::getTransformedMap	(	const Eigen::Isometry3d &	transform,
		const std::string &	heightLayerName,
		const std::string &	newFrameId,
		const double	sampleRatio = `0.0`
	)		const

Apply isometric transformation (rotation + offset) to grid map and returns the transformed map. Note: The returned map may not have the same length since it's geometric description contains the original map.

Parameters:

[in]	transform	the requested transformation to apply.
[in]	heightLayerName	the height layer of the map.
[in]	newFrameId	frame index of the new map.
[in]	sampleRatio	if zero or negative, no in-painting is used to fill missing points due to sparsity of the map. Otherwise, four points are sampled around each grid cell to make sure that at least one of those points map to a new grid cell. A sampleRatio of 1 corresponds to the the resolution of the grid map.

Returns:: transformed map.

Exceptions:

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

Definition at line 341 of file GridMap.cpp.

bool grid_map::GridMap::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 273 of file GridMap.cpp.

bool grid_map::GridMap::hasBasicLayers ( ) const

True if basic layers are defined.

Returns:: true if basic layers are defined, false otherwise.

Definition at line 87 of file GridMap.cpp.

bool grid_map::GridMap::hasSameLayers ( const grid_map::GridMap & 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 92 of file GridMap.cpp.

bool grid_map::GridMap::isDefaultStartIndex ( ) const

Checks if the buffer is at start index (0,0).

Returns:: true if buffer is at default start index.

Definition at line 684 of file GridMap.cpp.

bool grid_map::GridMap::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 237 of file GridMap.cpp.

bool grid_map::GridMap::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.

Parameters:

index the index to check.

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

Definition at line 242 of file GridMap.cpp.

bool grid_map::GridMap::isValid	(	const Index &	index,
		const std::string &	layer
	)		const

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

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 247 of file GridMap.cpp.

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

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

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 253 of file GridMap.cpp.

bool grid_map::GridMap::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. Note: For a comparison between the `setPosition` and the `move` method, see the `move_demo_node.cpp` file of the `grid_map_demos` package.

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 453 of file GridMap.cpp.

bool grid_map::GridMap::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 521 of file GridMap.cpp.

GridMap& grid_map::GridMap::operator= ( const GridMap & )

GridMap& grid_map::GridMap::operator= ( GridMap && )

const Matrix & grid_map::GridMap::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 143 of file GridMap.cpp.

Matrix & grid_map::GridMap::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 148 of file GridMap.cpp.

void grid_map::GridMap::resetTimestamp ( )

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

Definition at line 640 of file GridMap.cpp.

void grid_map::GridMap::resize ( const Index & bufferSize ) [private]

Resize the buffer.

Parameters:

bufferSize the requested buffer size.

Definition at line 819 of file GridMap.cpp.

void grid_map::GridMap::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 77 of file GridMap.cpp.

void grid_map::GridMap::setFrameId ( const std::string & frameId )

Set the frame id of the grid map.

Parameters:

frameId the frame id to set.

Definition at line 645 of file GridMap.cpp.

void grid_map::GridMap::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 51 of file GridMap.cpp.

void grid_map::GridMap::setGeometry ( const SubmapGeometry & geometry )

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

Parameters:

geometry the submap geometry information.

Definition at line 72 of file GridMap.cpp.

void grid_map::GridMap::setPosition ( const Position & position )

Set the position of the grid map. Note: This method does not change the data stored in the grid map and is complementary to the `move(...)` method. For a comparison between the `setPosition` and the `move` method, see the `move_demo_node.cpp` file of the `grid_map_demos` package.

Parameters:

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

Definition at line 448 of file GridMap.cpp.

void grid_map::GridMap::setStartIndex ( const Index & startIndex )

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

Returns:: buffer start index.

Definition at line 675 of file GridMap.cpp.

void grid_map::GridMap::setTimestamp ( const Time timestamp )

Set the timestamp of the grid map.

Parameters:

timestamp the timestamp to set (in nanoseconds).

Definition at line 630 of file GridMap.cpp.

Member Data Documentation

std::vector<std::string> grid_map::GridMap::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 525 of file GridMap.hpp.

std::unordered_map<std::string, Matrix> grid_map::GridMap::data_ [private]

Grid map data stored as layers of matrices.

Definition at line 517 of file GridMap.hpp.

std::string grid_map::GridMap::frameId_ [private]

Frame id of the grid map.

Definition at line 511 of file GridMap.hpp.

std::vector<std::string> grid_map::GridMap::layers_ [private]

Names of the data layers.

Definition at line 520 of file GridMap.hpp.

Length grid_map::GridMap::length_ [private]

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