costmap_converter Namespace Reference

Classes
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)

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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.

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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.