Public Member Functions
const std::vector< size_t > &	getRayCastToMapBorder (const double angle, const size_t nrow, const size_t ncol, const double tolerance=0)
void	laserScanCast (const nav_msgs::OccupancyGrid &map, sensor_msgs::LaserScan &scan)
size_t	lookupSize () const
	MapRayCaster (const int occupied_threshold=60)
Private Member Functions
RayLookup::const_iterator	angleLookup (const double angle, const double tolerance)
Private Attributes
size_t	ncol_
	Map width used in the cache.
size_t	nrow_
	Map height used in the cache.
int	occupied_threshold_
RayLookup	raycast_lookup_

Detailed Description

Definition at line 22 of file map_ray_caster.h.

Constructor & Destructor Documentation

map_ray_caster::MapRayCaster::MapRayCaster ( const int occupied_threshold = 60 )

Definition at line 6 of file map_ray_caster.cpp.

RayLookup::const_iterator map_ray_caster::MapRayCaster::angleLookup	(	const double	angle,
		const double	tolerance
	)		`[private]`

Return an iterator to the closest key (angle) in the cache.

Returns:: The iterator to the closest key (angle) in the cache, if this angle is close enough to the desired angle. Otherwise, return the past the last iterator.

Definition at line 166 of file map_ray_caster.cpp.

const std::vector< size_t > & map_ray_caster::MapRayCaster::getRayCastToMapBorder	(	const double	angle,
		const size_t	nrow,
		const size_t	ncol,
		const double	tolerance = `0`
	)

Return the list of pixel indexes from map center to pixel at map border and given angle

The Bresenham algorithm is used.

Parameters:

Returns:: The list of pixel indexes from map center to pixel at map border and given angle.

Definition at line 71 of file map_ray_caster.cpp.

void map_ray_caster::MapRayCaster::laserScanCast	(	const nav_msgs::OccupancyGrid &	map,
		sensor_msgs::LaserScan &	scan
	)

Fill the ranges attributes with distances to obstacle

The ray casting will be from scan.angle_min to scan.angle_max, so that the scan message must be initialized with non-default values.

Parameters:

[in]	map	occupancy grid.
[in,out]	scan	LaserScan. scan.angle_min, scan.angle_max, scan.increment, scan.range_max will be used as input and must have non-null values. scan.ranges will set as output.

Definition at line 29 of file map_ray_caster.cpp.

size_t map_ray_caster::MapRayCaster::lookupSize ( ) const [inline]

Definition at line 32 of file map_ray_caster.h.