#include <OccupancyGrid.h>

Inheritance diagram for karto::OccupancyGrid:

Public Member Functions
OccupancyGrid *	Clone () const

kt_bool	IsFree (const Vector2i &rGridIndex) const

	OccupancyGrid (kt_int32s width, kt_int32s height, const Vector2d &rOffset, kt_double resolution)

kt_double	RayCast (const Pose2 &rPose2, kt_double maxRange) const

Public Member Functions inherited from karto::Object
	Object ()

	Object (const Identifier &rIdentifier)

Public Member Functions inherited from karto::Referenced
	Referenced ()

Protected Member Functions
kt_bool	AddScan (LocalizedLaserScan *pScan, kt_bool doUpdate=false)

virtual void	CreateFromScans (const LocalizedLaserScanList &rScans)

Grid< kt_int32u > *	GetCellHitsCounts ()

Grid< kt_int32u > *	GetCellPassCounts ()

kt_bool	RayTrace (const Vector2d &rWorldFrom, const Vector2d &rWorldTo, kt_bool isEndPointValid, kt_bool doUpdate=false)

virtual void	Resize (kt_int32s width, kt_int32s height)

void	UpdateCell (kt_int8u *pCell, kt_int32u cellPassCnt, kt_int32u cellHitCnt)

void	UpdateGrid ()

Protected Member Functions inherited from karto::Grid< kt_int8u >
void	Clear ()

Grid *	Clone ()

BoundingBox2	GetBoundingBox () const

CoordinateConverter *	GetCoordinateConverter () const

kt_int8u *	GetDataPointer (const Vector2i &rGrid)

kt_int8u *	GetDataPointer (const Vector2i &rGrid) const

kt_int8u *	GetDataPointer ()

kt_int8u *	GetDataPointer () const

kt_int32s	GetDataSize () const

kt_int32s	GetHeight () const

kt_double	GetResolution () const

const Size2< kt_int32s >	GetSize () const

kt_int8u	GetValue (const Vector2i &rGrid) const

kt_int32s	GetWidth () const

kt_int32s	GetWidthStep () const

	Grid (kt_int32s width, kt_int32s height)

virtual kt_int32s	GridIndex (const Vector2i &rGrid, kt_bool boundaryCheck=true) const

Vector2d	GridToWorld (const Vector2i &rGrid, kt_bool flipY=false) const

Vector2i	IndexToGrid (kt_int32s index) const

kt_bool	IsValidGridIndex (const Vector2i &rGrid) const

void	SetValue (const Vector2i &rGrid, kt_int8urValue) const

void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)

Vector2i	WorldToGrid (const Vector2d &rWorld, kt_bool flipY=false) const

Protected Member Functions inherited from karto::Object
const Identifier &	GetIdentifier () const

AbstractParameter *	GetParameter (const String &rParameterName) const

template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const

ParameterList	GetParameters ()

ParameterSet *	GetParameterSet ()

template<typename T >
void	SetParameters (const karto::String &rParameterName, const T &rValue)

Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()

kt_int32s	Reference () const

kt_int32s	Unreference () const

kt_int32s	UnreferenceNoDelete () const

Static Protected Member Functions
static void	ComputeDimensions (const LocalizedLaserScanList &rScans, kt_double resolution, kt_int32s &rWidth, kt_int32s &rHeight, Vector2d &rOffset)

static OccupancyGrid *	CreateFromMapper (OpenMapper *pMapper, kt_double resolution)

static OccupancyGrid *	CreateFromScans (const LocalizedLaserScanList &rScans, kt_double resolution)

static KARTO_DEPRECATED OccupancyGrid *	CreateFromScans (const std::vector< SmartPointer< LocalizedRangeScan > > &rScans, kt_double resolution)

Protected Attributes
SmartPointer< Grid< kt_int32u > >	m_pCellHitsCnt

SmartPointer< Grid< kt_int32u > >	m_pCellPassCnt

Private Member Functions
	KARTO_RTTI ()

	OccupancyGrid (const OccupancyGrid &)

const OccupancyGrid &	operator= (const OccupancyGrid &)

Private Attributes
CellUpdater *	m_pCellUpdater

SmartPointer< Parameter< kt_int32u > >	m_pMinPassThrough

SmartPointer< Parameter< kt_double > >	m_pOccupancyThreshold

Friends
class	CellUpdater

class	IncrementalOccupancyGrid

Additional Inherited Members
Static Public Member Functions inherited from karto::Grid< kt_int8u >
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)

Detailed Description

Occupancy grid definition. See GridStates for possible grid values.

Definition at line 56 of file OccupancyGrid.h.

Constructor & Destructor Documentation

karto::OccupancyGrid::OccupancyGrid	(	kt_int32s	width,
		kt_int32s	height,
		const Vector2d &	rOffset,
		kt_double	resolution
	)

Occupancy grid of given size

Parameters

width	width
height	height
rOffset	offset
resolution	resolution

Definition at line 28 of file OccupancyGrid.cpp.

karto::OccupancyGrid::OccupancyGrid ( const OccupancyGrid & )

private

Member Function Documentation

kt_bool karto::OccupancyGrid::AddScan	(	LocalizedLaserScan *	pScan,
		kt_bool	doUpdate = `false`
	)

protected

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

Parameters

pScan	laser scan
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 142 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::Clone ( ) const

Makes a clone

Returns: occupancy grid clone

Definition at line 53 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::ComputeDimensions	(	const LocalizedLaserScanList &	rScans,
		kt_double	resolution,
		kt_int32s &	rWidth,
		kt_int32s &	rHeight,
		Vector2d &	rOffset
	)

staticprotected

Calculates grid dimensions from localized laser scans and resolution

Parameters

rScans	scans
resolution	resolution
rWidth	(output parameter) width
rHeight	(output parameter) height
rOffset	(output parameter) offset

Definition at line 105 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromMapper	(	OpenMapper *	pMapper,
		kt_double	resolution
	)

staticprotected

Occupancy grid from the scans in the given mapper using the given resolution

Note: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters

pMapper	mapper
resolution	resolution

Returns: occupancy grid from the given scans using the given resolution

Definition at line 100 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromScans	(	const LocalizedLaserScanList &	rScans,
		kt_double	resolution
	)

staticprotected

public: /** Occupancy grid from the given scans using the given resolution

Note: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters

rScans	list of scans
resolution	resolution

Returns: occupancy grid from the given scans using the given resolution

Definition at line 84 of file OccupancyGrid.cpp.

OccupancyGrid * karto::OccupancyGrid::CreateFromScans	(	const std::vector< SmartPointer< LocalizedRangeScan > > &	rScans,
		kt_double	resolution
	)

staticprotected

Occupancy grid from the given scans using the given resolution

Note: Please assign the returned occupancy grid to an OccupancyGridPtr to avoid memory leaks.

Parameters

rScans	scans
resolution	resolution

Deprecated:: Please use CreateFromScans(const LocalizedLaserScanList& rScans, kt_double resolution)

Warning: Throws exception in Windows

Returns: occupancy grid from the given scans using the given resolution

Definition at line 72 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::CreateFromScans ( const LocalizedLaserScanList & rScans )

protectedvirtual

Creates grid using scans

Parameters

rScans scans

Definition at line 126 of file OccupancyGrid.cpp.

Grid<kt_int32u>* karto::OccupancyGrid::GetCellHitsCounts ( )

inlineprotected

Gets grid of cell hit counts

Returns: grid of cell hit counts

Definition at line 144 of file OccupancyGrid.h.

Grid<kt_int32u>* karto::OccupancyGrid::GetCellPassCounts ( )

inlineprotected

Get grid of cell pass counts

Returns: grid of cell pass counts

Definition at line 153 of file OccupancyGrid.h.

kt_bool karto::OccupancyGrid::IsFree ( const Vector2i & rGridIndex ) const

inline

Checks if the given grid index is free

Parameters

rGridIndex grid index

Returns: whether the cell at the given grid index is free space

Definition at line 124 of file OccupancyGrid.h.

karto::OccupancyGrid::KARTO_RTTI ( )

private

const OccupancyGrid& karto::OccupancyGrid::operator= ( const OccupancyGrid & )

private

kt_double karto::OccupancyGrid::RayCast	(	const Pose2 &	rPose2,
		kt_double	maxRange
	)		const

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

Parameters

rPose2	starting point
maxRange	maximum range

Returns: distance to closest obstacle

Definition at line 186 of file OccupancyGrid.cpp.

kt_bool karto::OccupancyGrid::RayTrace	(	const Vector2d &	rWorldFrom,
		const Vector2d &	rWorldTo,
		kt_bool	isEndPointValid,
		kt_bool	doUpdate = `false`
	)

protected

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 226 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::Resize	(	kt_int32s	width,
		kt_int32s	height
	)

protectedvirtual

Resizes the grid (deletes all old data)

Parameters

width	new width
height	new height

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 296 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateCell	(	kt_int8u *	pCell,
		kt_int32u	cellPassCnt,
		kt_int32u	cellHitCnt
	)

protected

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

Parameters

pCell	cell
cellPassCnt	cell pass count
cellHitCnt	cell hit count

Definition at line 260 of file OccupancyGrid.cpp.

void karto::OccupancyGrid::UpdateGrid ( )

protected

Updates the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt

Definition at line 277 of file OccupancyGrid.cpp.

Friends And Related Function Documentation

friend class CellUpdater

friend

Definition at line 61 of file OccupancyGrid.h.

friend class IncrementalOccupancyGrid

friend

Definition at line 62 of file OccupancyGrid.h.

Member Data Documentation

SmartPointer< Grid<kt_int32u> > karto::OccupancyGrid::m_pCellHitsCnt

protected

Counters of number of times a beam ended at a cell

Definition at line 223 of file OccupancyGrid.h.

SmartPointer< Grid<kt_int32u> > karto::OccupancyGrid::m_pCellPassCnt

protected

Counters of number of times a beam passed through a cell

Definition at line 218 of file OccupancyGrid.h.

CellUpdater* karto::OccupancyGrid::m_pCellUpdater

private

Definition at line 226 of file OccupancyGrid.h.

SmartPointer<Parameter<kt_int32u> > karto::OccupancyGrid::m_pMinPassThrough

private

Definition at line 234 of file OccupancyGrid.h.

SmartPointer<Parameter<kt_double> > karto::OccupancyGrid::m_pOccupancyThreshold

private

Definition at line 237 of file OccupancyGrid.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation