#include <Grid3d.h>

Classes
struct	GridCell
	3D probabilistic grid cell More...

Public Member Functions
void	buildGrid3d2WorldTf (const std::string &global_frame_id, tf::StampedTransform &tf) const

bool	buildGridSliceMsg (const float z, nav_msgs::OccupancyGrid &msg) const

bool	buildMapPointCloudMsg (sensor_msgs::PointCloud2 &msg) const

float	computeCloudWeight (const std::vector< pcl::PointXYZ > &points, const float tx, const float ty, const float tz, const float a) const

void	getMinOctomap (float &x, float &y, float &z) const

	Grid3d (const double sensor_dev)

bool	isIntoMap (const float x, const float y, const float z) const

bool	open (const std::string &map_path)

virtual	~Grid3d ()

Private Member Functions
void	computeGrid ()

void	computePointCloud ()

bool	loadGrid (const std::string &grid_path)

bool	loadOctomap (const std::string &map_path)

uint32_t	point2grid (const float x, const float y, const float z) const

bool	saveGrid (const std::string &grid_path)

Private Attributes
pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_
	3D point cloud representation of the map More...

std::unique_ptr< GridCell[]>	grid_

uint32_t	grid_size_

uint32_t	grid_size_x_

uint32_t	grid_size_y_

uint32_t	grid_size_z_

uint32_t	grid_step_y_

uint32_t	grid_step_z_

float	max_x_

float	max_y_

float	max_z_

float	min_oct_x_

float	min_oct_y_

float	min_oct_z_

std::unique_ptr< octomap::OcTree >	octomap_
	Octomap parameters. More...

float	one_div_res_

float	resolution_

double	sensor_dev_
	Init parameter. More...

Detailed Description

Definition at line 29 of file Grid3d.h.

Constructor & Destructor Documentation

amcl3d::Grid3d::Grid3d ( const double sensor_dev )

explicit

Definition at line 25 of file Grid3d.cpp.

amcl3d::Grid3d::~Grid3d ( )

virtual

Definition at line 29 of file Grid3d.cpp.

Member Function Documentation

void amcl3d::Grid3d::buildGrid3d2WorldTf	(	const std::string &	global_frame_id,
		tf::StampedTransform &	tf
	)		const

Definition at line 113 of file Grid3d.cpp.

bool amcl3d::Grid3d::buildGridSliceMsg	(	const float	z,
		nav_msgs::OccupancyGrid &	msg
	)		const

Extract max probability

Copy data into grid msg and scale the probability to [0, 100]

Definition at line 61 of file Grid3d.cpp.

bool amcl3d::Grid3d::buildMapPointCloudMsg ( sensor_msgs::PointCloud2 & msg ) const

Definition at line 101 of file Grid3d.cpp.

float amcl3d::Grid3d::computeCloudWeight	(	const std::vector< pcl::PointXYZ > &	points,
		const float	tx,
		const float	ty,
		const float	tz,
		const float	a
	)		const

Definition at line 122 of file Grid3d.cpp.

void amcl3d::Grid3d::computeGrid ( )

private

Alloc the 3D grid

Setup kdtree

Compute the distance to the closest point of the grid

Definition at line 302 of file Grid3d.cpp.

void amcl3d::Grid3d::computePointCloud ( )

private

Load the octomap in PCL for easy nearest neighborhood computation The point-cloud is shifted to have (0,0,0) as min values

Definition at line 215 of file Grid3d.cpp.

void amcl3d::Grid3d::getMinOctomap	(	float &	x,
		float &	y,
		float &	z
	)		const

Definition at line 159 of file Grid3d.cpp.

bool amcl3d::Grid3d::isIntoMap	(	const float	x,
		const float	y,
		const float	z
	)		const

Definition at line 154 of file Grid3d.cpp.

bool amcl3d::Grid3d::loadGrid ( const std::string & grid_path )

private

Read grid general info

Read grid cells

Definition at line 265 of file Grid3d.cpp.

bool amcl3d::Grid3d::loadOctomap ( const std::string & map_path )

private

Definition at line 166 of file Grid3d.cpp.

bool amcl3d::Grid3d::open ( const std::string & map_path )

Load octomap

Compute the point-cloud associated to the octomap

Try to load the associated grid-map from file

Compute the gridMap using kdtree search over the point-cloud

Save grid on file

Definition at line 33 of file Grid3d.cpp.

uint32_t amcl3d::Grid3d::point2grid	(	const float	x,
		const float	y,
		const float	z
	)		const

inlineprivate

Definition at line 353 of file Grid3d.cpp.

bool amcl3d::Grid3d::saveGrid ( const std::string & grid_path )

private

Write grid general info

Write grid cells

Definition at line 239 of file Grid3d.cpp.

Member Data Documentation

pcl::PointCloud<pcl::PointXYZ>::Ptr amcl3d::Grid3d::cloud_

private

3D point cloud representation of the map

Definition at line 66 of file Grid3d.h.

std::unique_ptr<GridCell[]> amcl3d::Grid3d::grid_

private

Definition at line 76 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_size_

private

Definition at line 77 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_size_x_

private

Definition at line 77 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_size_y_

private

Definition at line 77 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_size_z_

private

Definition at line 77 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_step_y_

private

Definition at line 78 of file Grid3d.h.

uint32_t amcl3d::Grid3d::grid_step_z_

private

Definition at line 78 of file Grid3d.h.

float amcl3d::Grid3d::max_x_

private

Definition at line 61 of file Grid3d.h.

float amcl3d::Grid3d::max_y_

private

Definition at line 61 of file Grid3d.h.

float amcl3d::Grid3d::max_z_

private

Definition at line 61 of file Grid3d.h.

float amcl3d::Grid3d::min_oct_x_

private

Definition at line 62 of file Grid3d.h.

float amcl3d::Grid3d::min_oct_y_

private

Definition at line 62 of file Grid3d.h.

float amcl3d::Grid3d::min_oct_z_

private

Definition at line 62 of file Grid3d.h.

std::unique_ptr<octomap::OcTree> amcl3d::Grid3d::octomap_

private

Octomap parameters.

Definition at line 60 of file Grid3d.h.

float amcl3d::Grid3d::one_div_res_

private

Definition at line 63 of file Grid3d.h.

float amcl3d::Grid3d::resolution_

private

Definition at line 63 of file Grid3d.h.

double amcl3d::Grid3d::sensor_dev_

private

Init parameter.

Definition at line 57 of file Grid3d.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation