Stores a nav_msgs::OccupancyGrid in a convenient opencv cv::Mat as binary map (free: 255, occupied: 0) and as distance map (distance to closest obstacle in meter). More...

#include <grid_map_2d.h>

Public Member Functions
const cv::Mat &	binaryMap () const

uchar	binaryMapAt (double wx, double wy) const
	Returns map value at world coordinates <wx, wy>; out of bounds will be returned as 0! More...

uchar	binaryMapAtCell (unsigned int mx, unsigned int my) const
	Returns map value at map cell <mx, my>; out of bounds will be returned as 0! More...

const cv::Mat &	distanceMap () const

float	distanceMapAt (double wx, double wy) const
	Returns distance (in m) at world coordinates <wx,wy> in m; -1 if out of bounds! More...

float	distanceMapAtCell (unsigned int mx, unsigned int my) const
	Returns distance (in m) at map cell <mx, my> in m; -1 if out of bounds! More...

const std::string	getFrameID () const
	returns the tf frame ID of the map (usually "/map") More...

const nav_msgs::MapMetaData &	getInfo () const

float	getResolution () const

	GridMap2D ()

	GridMap2D (const nav_msgs::OccupancyGridConstPtr &gridMap)

void	inflateMap (double inflationRaduis)

bool	inMapBounds (double wx, double wy) const
	check if a coordinate is covered by the map extent (same as worldToMap) More...

bool	isOccupiedAt (double wx, double wy) const

bool	isOccupiedAtCell (unsigned int mx, unsigned int my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

void	setMap (const nav_msgs::OccupancyGridConstPtr &gridMap)
	Initialize map from a ROS OccupancyGrid message. More...

void	setMap (const cv::Mat &binaryMap)
	Initialize from an existing cv::Map. mapInfo (in particular resultion) remains the same! More...

const CvSize	size () const

double	worldDist (unsigned x1, unsigned y1, unsigned x2, unsigned y2)
	Distance (in m) between two map coordinates (indices) More...

double	worldDist (const cv::Point &p1, const cv::Point &p2)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapNoBounds (double wx, double wy, unsigned int &mx, unsigned int &my) const

virtual	~GridMap2D ()

Static Public Member Functions
static double	pointDist (const cv::Point &p1, const cv::Point &p2)
	Euclidean distance between two points: More...

static double	pointDist2 (const cv::Point &p1, const cv::Point &p2)
	Squared distance between two points: More...

Protected Attributes
cv::Mat	m_binaryMap
	binary occupancy map. 255: free, 0 occupied. More...

cv::Mat	m_distMap
	distance map (in meter) More...

std::string	m_frameId
	"map" frame where ROS OccupancyGrid originated from More...

nav_msgs::MapMetaData	m_mapInfo

Detailed Description

Stores a nav_msgs::OccupancyGrid in a convenient opencv cv::Mat as binary map (free: 255, occupied: 0) and as distance map (distance to closest obstacle in meter).

Definition at line 51 of file grid_map_2d.h.

Constructor & Destructor Documentation

vigir_gridmap_2d::GridMap2D::GridMap2D ( )

Definition at line 41 of file grid_map_2d.cpp.

vigir_gridmap_2d::GridMap2D::GridMap2D ( const nav_msgs::OccupancyGridConstPtr & gridMap )

Definition at line 47 of file grid_map_2d.cpp.

vigir_gridmap_2d::GridMap2D::~GridMap2D ( )

virtual

Definition at line 52 of file grid_map_2d.cpp.

Member Function Documentation

const cv::Mat& vigir_gridmap_2d::GridMap2D::binaryMap ( ) const

inline

Returns: the cv::Mat binary image.

Definition at line 125 of file grid_map_2d.h.

uchar vigir_gridmap_2d::GridMap2D::binaryMapAt	(	double	wx,
		double	wy
	)		const

Returns map value at world coordinates <wx, wy>; out of bounds will be returned as 0!

Definition at line 155 of file grid_map_2d.cpp.

uchar vigir_gridmap_2d::GridMap2D::binaryMapAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns map value at map cell <mx, my>; out of bounds will be returned as 0!

Definition at line 170 of file grid_map_2d.cpp.

const cv::Mat& vigir_gridmap_2d::GridMap2D::distanceMap ( ) const

inline

Returns: the cv::Mat distance image.

Definition at line 123 of file grid_map_2d.h.

float vigir_gridmap_2d::GridMap2D::distanceMapAt	(	double	wx,
		double	wy
	)		const

Returns distance (in m) at world coordinates <wx,wy> in m; -1 if out of bounds!

Definition at line 145 of file grid_map_2d.cpp.

float vigir_gridmap_2d::GridMap2D::distanceMapAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns distance (in m) at map cell <mx, my> in m; -1 if out of bounds!

Definition at line 165 of file grid_map_2d.cpp.

const std::string vigir_gridmap_2d::GridMap2D::getFrameID ( ) const

inline

returns the tf frame ID of the map (usually "/map")

Definition at line 121 of file grid_map_2d.h.

const nav_msgs::MapMetaData& vigir_gridmap_2d::GridMap2D::getInfo ( ) const

inline

Definition at line 118 of file grid_map_2d.h.

float vigir_gridmap_2d::GridMap2D::getResolution ( ) const

inline

Definition at line 119 of file grid_map_2d.h.

void vigir_gridmap_2d::GridMap2D::inflateMap ( double inflationRaduis )

Inflate occupancy map by inflationRadius

Definition at line 103 of file grid_map_2d.cpp.

bool vigir_gridmap_2d::GridMap2D::inMapBounds	(	double	wx,
		double	wy
	)		const

check if a coordinate is covered by the map extent (same as worldToMap)

Definition at line 139 of file grid_map_2d.cpp.

bool vigir_gridmap_2d::GridMap2D::isOccupiedAt	(	double	wx,
		double	wy
	)		const

Returns: true if map is occupied at world coordinate <wx, wy>. Out of bounds will be returned as occupied.

Definition at line 180 of file grid_map_2d.cpp.

bool vigir_gridmap_2d::GridMap2D::isOccupiedAtCell	(	unsigned int	mx,
		unsigned int	my
	)		const

Returns: true if map is occupied at cell <mx, my>

Definition at line 175 of file grid_map_2d.cpp.

void vigir_gridmap_2d::GridMap2D::mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)		const

Definition at line 113 of file grid_map_2d.cpp.

static double vigir_gridmap_2d::GridMap2D::pointDist	(	const cv::Point &	p1,
		const cv::Point &	p2
	)

inlinestatic

Euclidean distance between two points:

Definition at line 82 of file grid_map_2d.h.

static double vigir_gridmap_2d::GridMap2D::pointDist2	(	const cv::Point &	p1,
		const cv::Point &	p2
	)

inlinestatic

Squared distance between two points:

Definition at line 88 of file grid_map_2d.h.

void vigir_gridmap_2d::GridMap2D::setMap ( const nav_msgs::OccupancyGridConstPtr & gridMap )

Initialize map from a ROS OccupancyGrid message.

Definition at line 56 of file grid_map_2d.cpp.

void vigir_gridmap_2d::GridMap2D::setMap ( const cv::Mat & binaryMap )

Initialize from an existing cv::Map. mapInfo (in particular resultion) remains the same!

Definition at line 90 of file grid_map_2d.cpp.

const CvSize vigir_gridmap_2d::GridMap2D::size ( ) const

inline

Returns: the size of the cv::Mat binary image. Note that x/y are swapped wrt. height/width

Definition at line 127 of file grid_map_2d.h.

double vigir_gridmap_2d::GridMap2D::worldDist	(	unsigned	x1,
		unsigned	y1,
		unsigned	x2,
		unsigned	y2
	)

inline

Distance (in m) between two map coordinates (indices)

Definition at line 71 of file grid_map_2d.h.

double vigir_gridmap_2d::GridMap2D::worldDist	(	const cv::Point &	p1,
		const cv::Point &	p2
	)

inline

Definition at line 76 of file grid_map_2d.h.

bool vigir_gridmap_2d::GridMap2D::worldToMap	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Definition at line 125 of file grid_map_2d.cpp.

void vigir_gridmap_2d::GridMap2D::worldToMapNoBounds	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Definition at line 119 of file grid_map_2d.cpp.

Member Data Documentation

cv::Mat vigir_gridmap_2d::GridMap2D::m_binaryMap

protected

binary occupancy map. 255: free, 0 occupied.

Definition at line 130 of file grid_map_2d.h.

cv::Mat vigir_gridmap_2d::GridMap2D::m_distMap

protected

distance map (in meter)

Definition at line 131 of file grid_map_2d.h.

std::string vigir_gridmap_2d::GridMap2D::m_frameId

protected

"map" frame where ROS OccupancyGrid originated from

Definition at line 133 of file grid_map_2d.h.

nav_msgs::MapMetaData vigir_gridmap_2d::GridMap2D::m_mapInfo

protected

Definition at line 132 of file grid_map_2d.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation