#include <OccGridMapBase.h>

Inheritance diagram for hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >:

Public Member Functions
void	bresenham2D (unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset)

void	bresenhamCellFree (unsigned int offset)

void	bresenhamCellOcc (unsigned int offset)

float	getGridProbabilityMap (int index) const

float	getObstacleThreshold () const

bool	isFree (int xMap, int yMap) const

bool	isFree (int index) const

bool	isOccupied (int xMap, int yMap) const

bool	isOccupied (int index) const

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OccGridMapBase (float mapResolution, const Eigen::Vector2i &size, const Eigen::Vector2f &offset)

void	setUpdateFreeFactor (float factor)

void	setUpdateOccupiedFactor (float factor)

void	updateByScan (const DataContainer &dataContainer, const Eigen::Vector3f &robotPoseWorld)

void	updateLineBresenhami (const Eigen::Vector2i &beginMap, const Eigen::Vector2i &endMap, unsigned int max_length=UINT_MAX)

void	updateSetFree (int index)

void	updateSetOccupied (int index)

void	updateUnsetFree (int index)

virtual	~OccGridMapBase ()

Public Member Functions inherited from hectorslam::GridMapBase< ConcreteCellType >
void	allocateArray (const Eigen::Vector2i &newMapDims)

void	clear ()

void	deleteArray ()

ConcreteCellType &	getCell (int x, int y)

const ConcreteCellType &	getCell (int x, int y) const

ConcreteCellType &	getCell (int index)

const ConcreteCellType &	getCell (int index) const

float	getCellLength () const

Eigen::Vector2f	getMapCoords (const Eigen::Vector2f &worldCoords) const

Eigen::Vector3f	getMapCoordsPose (const Eigen::Vector3f &worldPose) const

const Eigen::Vector2i &	getMapDimensions () const

const MapDimensionProperties &	getMapDimProperties () const

bool	getMapExtends (int &xMax, int &yMax, int &xMin, int &yMin) const

const Eigen::Affine2f &	getMapTworld () const

float	getScaleToMap () const

int	getSizeX () const

int	getSizeY () const

int	getUpdateIndex () const

Eigen::Vector2f	getWorldCoords (const Eigen::Vector2f &mapCoords) const

Eigen::Vector3f	getWorldCoordsPose (const Eigen::Vector3f &mapPose) const

const Eigen::Affine2f &	getWorldTmap () const

const Eigen::Affine3f &	getWorldTmap3D () const

	GridMapBase (float mapResolution, const Eigen::Vector2i &size, const Eigen::Vector2f &offset)

	GridMapBase (const GridMapBase &other)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	hasGridValue (int x, int y) const

GridMapBase &	operator= (const GridMapBase &other)

bool	pointOutOfMapBounds (const Eigen::Vector2f &pointMapCoords) const

virtual void	reset ()

void	setDimensionProperties (const Eigen::Vector2f &topLeftOffsetIn, const Eigen::Vector2i &mapDimensionsIn, float cellLengthIn)

void	setDimensionProperties (const MapDimensionProperties &newMapDimProps)

void	setMapGridSize (const Eigen::Vector2i &newMapDims)

void	setMapTransformation (const Eigen::Vector2f &topLeftOffset, float cellLength)

void	setUpdated ()

virtual	~GridMapBase ()

Protected Attributes
ConcreteGridFunctions	concreteGridFunctions

int	currMarkFreeIndex

int	currMarkOccIndex

int	currUpdateIndex

Protected Attributes inherited from hectorslam::GridMapBase< ConcreteCellType >
ConcreteCellType *	mapArray
	Map representation used with plain pointer array. More...

MapDimensionProperties	mapDimensionProperties

Eigen::Affine2f	mapTworld
	Homogenous 2D transform from world to map coordinates. More...

float	scaleToMap
	Scaling factor from world to map. More...

int	sizeX

Eigen::Affine2f	worldTmap
	Homogenous 2D transform from map to world coordinates. More...

Eigen::Affine3f	worldTmap3D
	Homogenous 3D transform from map to world coordinates. More...

Detailed Description

template<typename ConcreteCellType, typename ConcreteGridFunctions>
class hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >

Definition at line 42 of file OccGridMapBase.h.

Constructor & Destructor Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::OccGridMapBase	(	float	mapResolution,
		const Eigen::Vector2i &	size,
		const Eigen::Vector2f &	offset
	)

inline

Definition at line 50 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

virtual hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::~OccGridMapBase ( )

inlinevirtual

Definition at line 57 of file OccGridMapBase.h.

Member Function Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenham2D	(	unsigned int	abs_da,
		unsigned int	abs_db,
		int	error_b,
		int	offset_a,
		int	offset_b,
		unsigned int	offset
	)

inline

Definition at line 243 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenhamCellFree ( unsigned int offset )

inline

Definition at line 216 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::bresenhamCellOcc ( unsigned int offset )

inline

Definition at line 226 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

float hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::getGridProbabilityMap ( int index ) const

inline

Definition at line 74 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

float hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::getObstacleThreshold ( ) const

inline

Definition at line 99 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isFree	(	int	xMap,
		int	yMap
	)		const

inline

Definition at line 84 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isFree ( int index ) const

inline

Definition at line 94 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isOccupied	(	int	xMap,
		int	yMap
	)		const

inline

Definition at line 79 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

bool hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::isOccupied ( int index ) const

inline

Definition at line 89 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::setUpdateFreeFactor ( float factor )

inline

Definition at line 106 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::setUpdateOccupiedFactor ( float factor )

inline

Definition at line 111 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateByScan	(	const DataContainer &	dataContainer,
		const Eigen::Vector3f &	robotPoseWorld
	)

inline

Updates the map using the given scan data and robot pose

Parameters

dataContainer	Contains the laser scan data
robotPoseWorld	The 2D robot pose in world coordinates

Definition at line 121 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateLineBresenhami	(	const Eigen::Vector2i &	beginMap,
		const Eigen::Vector2i &	endMap,
		unsigned int	max_length = `UINT_MAX`
	)

inline

Definition at line 170 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateSetFree ( int index )

inline

Definition at line 64 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateSetOccupied ( int index )

inline

Definition at line 59 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

void hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::updateUnsetFree ( int index )

inline

Definition at line 69 of file OccGridMapBase.h.

Member Data Documentation

template<typename ConcreteCellType , typename ConcreteGridFunctions >

ConcreteGridFunctions hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::concreteGridFunctions

protected

Definition at line 264 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currMarkFreeIndex

protected

Definition at line 267 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currMarkOccIndex

protected

Definition at line 266 of file OccGridMapBase.h.

template<typename ConcreteCellType , typename ConcreteGridFunctions >

int hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >::currUpdateIndex

protected

Definition at line 265 of file OccGridMapBase.h.

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

OccGridMapBase.h

Public Member Functions

Protected Attributes

Detailed Description

template<typename ConcreteCellType, typename ConcreteGridFunctions> class hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename ConcreteCellType, typename ConcreteGridFunctions>
class hectorslam::OccGridMapBase< ConcreteCellType, ConcreteGridFunctions >