karto::OccupancyGrid Class Reference

#include <Karto.h>

Inheritance diagram for karto::OccupancyGrid:

List of all members.

Public Member Functions
OccupancyGrid *	Clone () const
virtual kt_bool	IsFree (const Vector2< kt_int32s > &rPose) const
	OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2< kt_double > &rOffset, kt_double resolution)
virtual kt_double	RayCast (const Pose2 &rPose2, kt_double maxRange) const
void	SetMinPassThrough (kt_int32u count)
void	SetOccupancyThreshold (kt_double thresh)
virtual	~OccupancyGrid ()
Static Public Member Functions
static OccupancyGrid *	CreateFromScans (const LocalizedRangeScanVector &rScans, kt_double resolution)
Protected Member Functions
virtual kt_bool	AddScan (LocalizedRangeScan *pScan, kt_bool doUpdate=false)
virtual void	CreateFromScans (const LocalizedRangeScanVector &rScans)
virtual Grid< kt_int32u > *	GetCellHitsCounts ()
virtual Grid< kt_int32u > *	GetCellPassCounts ()
virtual kt_bool	RayTrace (const Vector2< kt_double > &rWorldFrom, const Vector2< kt_double > &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)
virtual void	Resize (kt_int32s width, kt_int32s height)
virtual void	Update ()
virtual void	UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)
Static Protected Member Functions
static void	ComputeDimensions (const LocalizedRangeScanVector &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2< kt_double > &rOffset)
Protected Attributes
Grid< kt_int32u > *	m_pCellHitsCnt
Grid< kt_int32u > *	m_pCellPassCnt
Private Member Functions
	OccupancyGrid (const OccupancyGrid &)
const OccupancyGrid &	operator= (const OccupancyGrid &)
Private Attributes
CellUpdater *	m_pCellUpdater
Parameter< kt_int32u > *	m_pMinPassThrough
Parameter< kt_double > *	m_pOccupancyThreshold
Friends
class	CellUpdater
class	IncrementalOccupancyGrid

---

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 5591 of file Karto.h.

---

Constructor & Destructor Documentation

karto::OccupancyGrid::OccupancyGrid	(	kt_int32s	width,
		kt_int32s	height,
		const Vector2< kt_double > &	rOffset,
		kt_double	resolution
	)		[inline]

Constructs an occupancy grid of given size

Parameters:

width
height
rOffset
resolution

Definition at line 5604 of file Karto.h.

virtual karto::OccupancyGrid::~OccupancyGrid

(

)

[inline, virtual]

Destructor

Definition at line 5627 of file Karto.h.

karto::OccupancyGrid::OccupancyGrid

(

const OccupancyGrid &

)

[private]

Restrict the copy constructor

---

Member Function Documentation

virtual kt_bool karto::OccupancyGrid::AddScan	(	LocalizedRangeScan *	pScan,
		kt_bool	doUpdate = false
	)		[inline, protected, virtual]

Adds the scan's information to this grid's counters (optionally update the grid's cells' occupancy status)

Parameters:

pScan
doUpdate	whether to update the grid's cell's occupancy status

Returns:

returns false if an endpoint fell off the grid, otherwise true

Definition at line 5837 of file Karto.h.

OccupancyGrid* karto::OccupancyGrid::Clone

(

)

const [inline]

Make a clone

Returns:

occupancy grid clone

Definition at line 5664 of file Karto.h.

static void karto::OccupancyGrid::ComputeDimensions	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution,
		kt_int32s &	rWidth,
		kt_int32s &	rHeight,
		Vector2< kt_double > &	rOffset
	)		[inline, static, protected]

Calculate grid dimensions from localized range scans

Parameters:

rScans
resolution
rWidth
rHeight
rOffset

Definition at line 5789 of file Karto.h.

static OccupancyGrid* karto::OccupancyGrid::CreateFromScans	(	const LocalizedRangeScanVector &	rScans,
		kt_double	resolution
	)		[inline, static]

Create an occupancy grid from the given scans using the given resolution

Parameters:

rScans
resolution

Definition at line 5644 of file Karto.h.

virtual void karto::OccupancyGrid::CreateFromScans

(

const LocalizedRangeScanVector &

rScans

)

[inline, protected, virtual]

Create grid using scans

Parameters:

rScans

Definition at line 5813 of file Karto.h.

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellHitsCounts

(

)

[inline, protected, virtual]

Get cell hit grid

Returns:

Grid<kt_int32u>*

Definition at line 5766 of file Karto.h.

virtual Grid<kt_int32u>* karto::OccupancyGrid::GetCellPassCounts

(

)

[inline, protected, virtual]

Get cell pass grid

Returns:

Grid<kt_int32u>*

Definition at line 5775 of file Karto.h.

virtual kt_bool karto::OccupancyGrid::IsFree

(

const Vector2< kt_int32s > &

rPose

)

const [inline, virtual]

Check if grid point is free

Parameters:

rPose

Returns:

whether the cell at the given point is free space

Definition at line 5684 of file Karto.h.

const OccupancyGrid& karto::OccupancyGrid::operator=

(

const OccupancyGrid &

)

[private]

Restrict the assignment operator

virtual kt_double karto::OccupancyGrid::RayCast	(	const Pose2 &	rPose2,
		kt_double	maxRange
	)		const [inline, virtual]

Casts a ray from the given point (up to the given max range) and returns the distance to the closest obstacle

Parameters:

rPose2
maxRange

Returns:

distance to closest obstacle

Definition at line 5702 of file Karto.h.

virtual kt_bool karto::OccupancyGrid::RayTrace	(	const Vector2< kt_double > &	rWorldFrom,
		const Vector2< kt_double > &	rWorldTo,
		kt_bool	isEndPointValid,
		kt_bool	doUpdate = false
	)		[inline, protected, virtual]

Traces a beam from the start position to the end position marking the bookkeeping arrays accordingly.

Parameters:

rWorldFrom	start position of beam
rWorldTo	end position of beam
isEndPointValid	is the reading within the range threshold?
doUpdate	whether to update the cells' occupancy status immediately

Returns:

returns false if an endpoint fell off the grid, otherwise true

Definition at line 5895 of file Karto.h.

virtual void karto::OccupancyGrid::Resize	(	kt_int32s	width,
		kt_int32s	height
	)		[inline, protected, virtual]

Resizes the grid (deletes all old data)

Parameters:

width
height

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 5982 of file Karto.h.

void karto::OccupancyGrid::SetMinPassThrough

(

kt_int32u

count

)

[inline]

Sets the minimum number of beams that must pass through a cell before it will be considered to be occupied or unoccupied. This prevents stray beams from messing up the map.

Definition at line 5747 of file Karto.h.

void karto::OccupancyGrid::SetOccupancyThreshold

(

kt_double

thresh

)

[inline]

Sets the minimum ratio of beams hitting cell to beams passing through cell for cell to be marked as occupied.

Definition at line 5756 of file Karto.h.

virtual void karto::OccupancyGrid::Update

(

)

[inline, protected, virtual]

Update the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt

Definition at line 5958 of file Karto.h.

virtual void karto::OccupancyGrid::UpdateCell	(	kt_int8u *	pCell,
		kt_int32u	cellPassCnt,
		kt_int32u	cellHitCnt
	)		[inline, protected, virtual]

Updates a single cell's value based on the given counters

Parameters:

pCell
cellPassCnt
cellHitCnt

Definition at line 5938 of file Karto.h.

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Friends And Related Function Documentation

friend class CellUpdater [friend]

Definition at line 5593 of file Karto.h.

friend class IncrementalOccupancyGrid [friend]

Definition at line 5594 of file Karto.h.

---

Member Data Documentation

Grid<kt_int32u>* karto::OccupancyGrid::m_pCellHitsCnt [protected]

Counters of number of times a beam ended at a cell

Definition at line 5998 of file Karto.h.

Grid<kt_int32u>* karto::OccupancyGrid::m_pCellPassCnt [protected]

Counters of number of times a beam passed through a cell

Definition at line 5993 of file Karto.h.

CellUpdater* karto::OccupancyGrid::m_pCellUpdater [private]

Definition at line 6012 of file Karto.h.

Parameter<kt_int32u>* karto::OccupancyGrid::m_pMinPassThrough [private]

Definition at line 6020 of file Karto.h.

Parameter<kt_double>* karto::OccupancyGrid::m_pOccupancyThreshold [private]

Definition at line 6023 of file Karto.h.

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

• Karto.h