Stores a nav_msgs::OccupancyGrid in a convenient opencv cv::Mat as binary map (free: 255, occupied: 0) and as distance map (distance to closest obstacle in meter). More...

#include <GridMap2D.h>

Public Member Functions
const cv::Mat &	binaryMap () const
uchar	binaryMapAt (double wx, double wy) const
	Returns map value at world coordinates <wx, wy>; out of bounds will be returned as 0!
uchar	binaryMapAtCell (unsigned int mx, unsigned int my) const
	Returns map value at map cell <mx, my>; out of bounds will be returned as 0!
uchar &	binaryMapAtCell (unsigned int mx, unsigned int my)
	Returns map value at map cell <mx, my>; out of bounds will be returned as 0!
const cv::Mat &	distanceMap () const
float	distanceMapAt (double wx, double wy) const
	Returns distance (in m) at world coordinates <wx,wy> in m; -1 if out of bounds!
float	distanceMapAtCell (unsigned int mx, unsigned int my) const
	Returns distance (in m) at map cell <mx, my> in m; -1 if out of bounds!
const std::string	getFrameID () const
	returns the tf frame ID of the map (usually "/map")
const nav_msgs::MapMetaData &	getInfo () const
float	getResolution () const
	GridMap2D ()
	GridMap2D (const nav_msgs::OccupancyGridConstPtr &grid_map, bool unknown_as_obstacle=false)
	Create from nav_msgs::OccupancyGrid.
	GridMap2D (const GridMap2D &other)
	Copy constructor, performs a deep copy of underlying data structures.
void	inflateMap (double inflationRaduis)
bool	inMapBounds (double wx, double wy) const
	check if a coordinate is covered by the map extent (same as worldToMap)
bool	isOccupiedAt (double wx, double wy) const
bool	isOccupiedAtCell (unsigned int mx, unsigned int my) const
void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
void	setMap (const nav_msgs::OccupancyGridConstPtr &grid_map, bool unknown_as_obstacle=false)
	Initialize map from a ROS OccupancyGrid message.
void	setMap (const cv::Mat &binary_map)
	Initialize from an existing cv::Map. mapInfo (in particular resolution) remains the same!
const CvSize	size () const
nav_msgs::OccupancyGrid	toOccupancyGridMsg () const
	Converts back into a ROS nav_msgs::OccupancyGrid msg.
void	updateDistanceMap ()
	Recalculate the internal distance map. Required after manual changes to the grid map data.
double	worldDist (unsigned x1, unsigned y1, unsigned x2, unsigned y2)
	Distance (in m) between two map coordinates (indices)
double	worldDist (const cv::Point &p1, const cv::Point &p2)
bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
void	worldToMapNoBounds (double wx, double wy, unsigned int &mx, unsigned int &my) const
virtual	~GridMap2D ()
Static Public Member Functions
static double	pointDist (const cv::Point &p1, const cv::Point &p2)
	Euclidean distance between two points:
static double	pointDist2 (const cv::Point &p1, const cv::Point &p2)
	Squared distance between two points:
Static Public Attributes
static const uchar	FREE = 255
	char value for "free": 255
static const uchar	OCCUPIED = 0
	char value for "free": 0
Protected Attributes
cv::Mat	m_binaryMap
	binary occupancy map. 255: free, 0 occupied.
cv::Mat	m_distMap
	distance map (in meter)
std::string	m_frameId
	"map" frame where ROS OccupancyGrid originated from
nav_msgs::MapMetaData	m_mapInfo

Detailed Description

Stores a nav_msgs::OccupancyGrid in a convenient opencv cv::Mat as binary map (free: 255, occupied: 0) and as distance map (distance to closest obstacle in meter).

Definition at line 49 of file GridMap2D.h.

Constructor & Destructor Documentation

gridmap_2d::GridMap2D::GridMap2D ( )

Definition at line 36 of file GridMap2D.cpp.

gridmap_2d::GridMap2D::GridMap2D	(	const nav_msgs::OccupancyGridConstPtr &	grid_map,
		bool	unknown_as_obstacle = `false`
	)

Create from nav_msgs::OccupancyGrid.

Definition at line 42 of file GridMap2D.cpp.

gridmap_2d::GridMap2D::GridMap2D ( const GridMap2D & other )

Copy constructor, performs a deep copy of underlying data structures.

Definition at line 48 of file GridMap2D.cpp.

gridmap_2d::GridMap2D::~GridMap2D ( ) [virtual]

Definition at line 57 of file GridMap2D.cpp.

Member Function Documentation

const cv::Mat& gridmap_2d::GridMap2D::binaryMap ( ) const [inline]

Returns:: the cv::Mat binary image.

Definition at line 130 of file GridMap2D.h.

uchar gridmap_2d::GridMap2D::binaryMapAt	(	double	wx,
		double	wy
	)		const

Returns map value at world coordinates <wx, wy>; out of bounds will be returned as 0!

Definition at line 185 of file GridMap2D.cpp.

uchar gridmap_2d::GridMap2D::binaryMapAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns map value at map cell <mx, my>; out of bounds will be returned as 0!

Definition at line 199 of file GridMap2D.cpp.

uchar & gridmap_2d::GridMap2D::binaryMapAtCell	(	unsigned int	mx,
		unsigned int	my
	)

Returns map value at map cell <mx, my>; out of bounds will be returned as 0!

Definition at line 203 of file GridMap2D.cpp.

const cv::Mat& gridmap_2d::GridMap2D::distanceMap ( ) const [inline]

Returns:: the cv::Mat distance image.

Definition at line 128 of file GridMap2D.h.

float gridmap_2d::GridMap2D::distanceMapAt	(	double	wx,
		double	wy
	)		const

Returns distance (in m) at world coordinates <wx,wy> in m; -1 if out of bounds!

Definition at line 175 of file GridMap2D.cpp.

float gridmap_2d::GridMap2D::distanceMapAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns distance (in m) at map cell <mx, my> in m; -1 if out of bounds!

Definition at line 194 of file GridMap2D.cpp.

const std::string gridmap_2d::GridMap2D::getFrameID ( ) const [inline]

returns the tf frame ID of the map (usually "/map")

Definition at line 126 of file GridMap2D.h.

const nav_msgs::MapMetaData& gridmap_2d::GridMap2D::getInfo ( ) const [inline]

Definition at line 123 of file GridMap2D.h.

float gridmap_2d::GridMap2D::getResolution ( ) const [inline]

Definition at line 124 of file GridMap2D.h.

void gridmap_2d::GridMap2D::inflateMap ( double inflationRaduis )

Inflate occupancy map by inflationRadius

Definition at line 136 of file GridMap2D.cpp.

bool gridmap_2d::GridMap2D::inMapBounds	(	double	wx,
		double	wy
	)		const

check if a coordinate is covered by the map extent (same as worldToMap)

Definition at line 170 of file GridMap2D.cpp.

bool gridmap_2d::GridMap2D::isOccupiedAt	(	double	wx,
		double	wy
	)		const

Returns:: true if map is occupied at world coordinate <wx, wy>. Out of bounds will be returned as occupied.

Definition at line 213 of file GridMap2D.cpp.

bool gridmap_2d::GridMap2D::isOccupiedAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns:: true if map is occupied at cell <mx, my>

Definition at line 208 of file GridMap2D.cpp.

void gridmap_2d::GridMap2D::mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)		const

Definition at line 145 of file GridMap2D.cpp.

static double gridmap_2d::GridMap2D::pointDist	(	const cv::Point &	p1,
		const cv::Point &	p2
	)		`[inline, static]`

Euclidean distance between two points:

Definition at line 80 of file GridMap2D.h.

static double gridmap_2d::GridMap2D::pointDist2	(	const cv::Point &	p1,
		const cv::Point &	p2
	)		`[inline, static]`

Squared distance between two points:

Definition at line 85 of file GridMap2D.h.

void gridmap_2d::GridMap2D::setMap	(	const nav_msgs::OccupancyGridConstPtr &	grid_map,
		bool	unknown_as_obstacle = `false`
	)

Initialize map from a ROS OccupancyGrid message.

Definition at line 67 of file GridMap2D.cpp.

void gridmap_2d::GridMap2D::setMap ( const cv::Mat & binary_map )

Initialize from an existing cv::Map. mapInfo (in particular resolution) remains the same!

Definition at line 124 of file GridMap2D.cpp.

const CvSize gridmap_2d::GridMap2D::size ( ) const [inline]

Returns:: the size of the cv::Mat binary image. Note that x/y are swapped wrt. height/width

Definition at line 132 of file GridMap2D.h.

nav_msgs::OccupancyGrid gridmap_2d::GridMap2D::toOccupancyGridMsg ( ) const

Converts back into a ROS nav_msgs::OccupancyGrid msg.

Definition at line 100 of file GridMap2D.cpp.

void gridmap_2d::GridMap2D::updateDistanceMap ( )

Recalculate the internal distance map. Required after manual changes to the grid map data.

Definition at line 61 of file GridMap2D.cpp.

double gridmap_2d::GridMap2D::worldDist	(	unsigned	x1,
		unsigned	y1,
		unsigned	x2,
		unsigned	y2
	)		`[inline]`

Distance (in m) between two map coordinates (indices)

Definition at line 71 of file GridMap2D.h.

double gridmap_2d::GridMap2D::worldDist	(	const cv::Point &	p1,
		const cv::Point &	p2
	)		`[inline]`

Definition at line 75 of file GridMap2D.h.

bool gridmap_2d::GridMap2D::worldToMap	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Definition at line 157 of file GridMap2D.cpp.

void gridmap_2d::GridMap2D::worldToMapNoBounds	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Definition at line 152 of file GridMap2D.cpp.

Member Data Documentation

const uchar gridmap_2d::GridMap2D::FREE = 255 [static]

char value for "free": 255

Definition at line 134 of file GridMap2D.h.

cv::Mat gridmap_2d::GridMap2D::m_binaryMap [protected]

binary occupancy map. 255: free, 0 occupied.

Definition at line 138 of file GridMap2D.h.

cv::Mat gridmap_2d::GridMap2D::m_distMap [protected]

distance map (in meter)

Definition at line 139 of file GridMap2D.h.

std::string gridmap_2d::GridMap2D::m_frameId [protected]

"map" frame where ROS OccupancyGrid originated from

Definition at line 141 of file GridMap2D.h.

nav_msgs::MapMetaData gridmap_2d::GridMap2D::m_mapInfo [protected]

Definition at line 140 of file GridMap2D.h.

const uchar gridmap_2d::GridMap2D::OCCUPIED = 0 [static]

char value for "free": 0

Definition at line 135 of file GridMap2D.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation