Classes | |
| class | BaseCostmapToDynamicObstacles |
| 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) More... | |
| typedef boost::shared_ptr< ObstacleArrayMsg > | ObstacleArrayPtr |
| Typedef for a shared dynamic obstacle container. More... | |
| typedef boost::shared_ptr< const std::vector< geometry_msgs::Polygon > > | PolygonContainerConstPtr |
| Typedef for a shared polygon container (read-only access) More... | |
| typedef boost::shared_ptr< std::vector< geometry_msgs::Polygon > > | PolygonContainerPtr |
| Typedef for a shared polygon container. More... | |
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) More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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) |
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.
|
inline |
Calculate the distance between a point and a straight line (with infinite length)
| 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 |
| Point | generic point type that should provide x and y member fiels. |
| LinePoint | generic point type that should provide x and y member fiels. |
|
inline |
Calculate the distance between a point and a straight line segment.
| 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] |
| Point | generic point type that should provide x and y member fiels. |
| LinePoint | generic point type that should provide x and y member fiels. |
|
inline |
Check if two points are approximately defining the same one.
| pt1 | generic 2D point |
| pt2 | generic 2D point |
| threshold | define the minimum threshold |pt1.x-pt2.y| < tresh && |pt1.y-pt2.y| < tresh |
| Point1 | generic point type that should provide x and y member fiels. |
| Point2 | generic point type that should provide x and y member fiels. |
true, if similar, false otherwise | bool costmap_converter::isXCoordinateSmaller | ( | const CostmapToPolygonsDBSMCCH::KeyPoint & | p1, |
| const CostmapToPolygonsDBSMCCH::KeyPoint & | p2 | ||
| ) |
Definition at line 227 of file costmap_to_polygons.cpp.
|
inline |
Calculate the distance between two 2d points.
| pt1 | generic 2D point |
| pt2 | generic 2D point |
| Point1 | generic point type that should provide x and y member fiels. |
| Point2 | generic point type that should provide x and y member fiels. |
| 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.