Occupancy 2D grid base type. More...

#include <occupancy_grid.hpp>

Inheritance diagram for beluga::BaseOccupancyGrid2< Derived >:

[legend]

Public Types
enum	Frame : std::uint8_t { Frame::kLocal, Frame::kGlobal }
	Coordinate frames. More...

Public Member Functions
auto	coordinates_at (std::size_t index, Frame frame) const
	Compute plane coordinates given grid cell coordinates. More...

template<class Range >
auto	coordinates_for (Range &&cells, Frame frame) const
	Compute plane coordinates for a range of grid cells. More...

bool	free_at (const Eigen::Vector2i &pi) const
	Checks if cell is free. More...

bool	free_at (int xi, int yi) const
	Checks if cell is free. More...

bool	free_at (std::size_t index) const
	Checks if cell is free. More...

auto	free_cells () const
	Retrieves range of free grid cell indices. More...

bool	free_near (const Eigen::Vector2d &p) const
	Checks if nearest cell is free. More...

bool	free_near (double x, double y) const
	Checks if nearest cell is free. More...

auto	obstacle_data () const
	Retrieves grid data using true booleans for obstacles. More...

Public Member Functions inherited from beluga::BaseLinearGrid2< Derived >
Eigen::Vector2d	coordinates_at (std::size_t index) const
	Compute plane coordinates given a grid cell index. More...

auto	data_at (std::size_t index) const
	Gets cell data, if included. More...

std::size_t	index_at (const Eigen::Vector2i &pi) const
	Computes index for given grid cell coordinates. More...

std::size_t	index_at (int xi, int yi) const
	Computes index for given grid cell coordinates. More...

auto	neighborhood4 (std::size_t index) const
	Computes 4-connected neighborhood for cell. More...

Public Member Functions inherited from beluga::BaseDenseGrid2< Derived >
bool	contains (const Eigen::Vector2i &pi) const
	Checks if a cell is included in the grid. More...

bool	contains (int xi, int yi) const
	Checks if a cell is included in the grid. More...

auto	data_at (const Eigen::Vector2i &pi) const
	Gets cell data, if included. More...

auto	data_at (int xi, int yi) const
	Gets cell data, if included. More...

auto	data_near (const Eigen::Vector2d &p) const
	Gets nearest cell data, if included. More...

auto	data_near (double x, double y) const
	Gets nearest cell data, if included. More...

auto	neighborhood4 (const Eigen::Vector2i &pi) const
	Computes 4-connected neighborhood for cell. More...

auto	neighborhood4 (int xi, int yi) const
	Computes 4-connected neighborhood for cell. More...

Public Member Functions inherited from beluga::BaseRegularGrid< Derived, NDim >
Eigen::Vector< int, NDim >	cell_near (const Eigen::Vector< double, NDim > &p) const
	Compute nearest grid cell coordinates given plane coordinates. More...

Eigen::Vector< double, NDim >	coordinates_at (const Eigen::Vector< int, NDim > &pi) const
	Compute plane coordinates given grid cell coordinates. More...

template<class Range >
auto	coordinates_for (Range &&cells) const
	Compute plane coordinates given a range of cell coordinates. More...

Detailed Description

template<typename Derived>
class beluga::BaseOccupancyGrid2< Derived >

Occupancy 2D grid base type.

When instantiated, it satisfies Beluga named requirements: OccupancyGrid2d.

Template Parameters

Derived Concrete occupancy grid type. It must define Derived::origin(), Derived::width(), Derived::height(), Derived::resolution(), Derived::data_at(std::size_t), Derived::index_at(int, int), Derived::data(), and Derived::value_traits() as described in Beluga named requirements: OccupancyGrid2d.

Definition at line 85 of file occupancy_grid.hpp.

Member Enumeration Documentation

◆ Frame

template<typename Derived >

enum beluga::BaseOccupancyGrid2::Frame : std::uint8_t

strong

Coordinate frames.

Enumerator
kLocal
kGlobal

Definition at line 88 of file occupancy_grid.hpp.

Member Function Documentation

◆ coordinates_at()

template<typename Derived >

auto beluga::BaseOccupancyGrid2< Derived >::coordinates_at	(	std::size_t	index,
		Frame	frame
	)		const

inline

Compute plane coordinates given grid cell coordinates.

Parameters

index	Grid cell index.
frame	Plane coordinate frame.

Returns: Plane coordinates in the corresponding frame.

Definition at line 148 of file occupancy_grid.hpp.

◆ coordinates_for()

template<typename Derived >

template<class Range >

auto beluga::BaseOccupancyGrid2< Derived >::coordinates_for	(	Range &&	cells,
		Frame	frame
	)		const

inline

Compute plane coordinates for a range of grid cells.

Parameters

cells	Range of grid cell indices or coordinates.
frame	Plane coordinate frame.

Returns: Range of plane coordinates in the corresponding frame.

Definition at line 163 of file occupancy_grid.hpp.

◆ free_at() [1/3]

template<typename Derived >

bool beluga::BaseOccupancyGrid2< Derived >::free_at ( const Eigen::Vector2i & pi ) const

inline

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters

pi	Grid cell coordinates.

Definition at line 119 of file occupancy_grid.hpp.

◆ free_at() [2/3]

template<typename Derived >

bool beluga::BaseOccupancyGrid2< Derived >::free_at	(	int	xi,
		int	yi
	)		const

inline

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters

xi	Grid cell x-axis coordinate.
yi	Grid cell y-axis coordinate.

Definition at line 111 of file occupancy_grid.hpp.

◆ free_at() [3/3]

template<typename Derived >

bool beluga::BaseOccupancyGrid2< Derived >::free_at ( std::size_t index ) const

inline

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters

index Grid cell index.

Definition at line 96 of file occupancy_grid.hpp.

◆ free_cells()

template<typename Derived >

auto beluga::BaseOccupancyGrid2< Derived >::free_cells ( ) const

inline

Retrieves range of free grid cell indices.

Definition at line 169 of file occupancy_grid.hpp.

◆ free_near() [1/2]

template<typename Derived >

bool beluga::BaseOccupancyGrid2< Derived >::free_near ( const Eigen::Vector2d & p ) const

inline

Checks if nearest cell is free.

Note cells not included in the grid are non-free too.

Parameters

p	Plane coordinates.

Definition at line 138 of file occupancy_grid.hpp.

◆ free_near() [2/2]

template<typename Derived >

bool beluga::BaseOccupancyGrid2< Derived >::free_near	(	double	x,
		double	y
	)		const

inline

Checks if nearest cell is free.

Note cells not included in the grid are non-free too.

Parameters

x	Plane x-axis coordinate.
y	Plane y-axis coordinate.

Definition at line 128 of file occupancy_grid.hpp.

◆ obstacle_data()

template<typename Derived >

auto beluga::BaseOccupancyGrid2< Derived >::obstacle_data ( ) const

inline

Retrieves grid data using true booleans for obstacles.

Definition at line 178 of file occupancy_grid.hpp.

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

occupancy_grid.hpp

Public Types

Public Member Functions

Detailed Description

template<typename Derived> class beluga::BaseOccupancyGrid2< Derived >

Member Enumeration Documentation

◆ Frame

Member Function Documentation

◆ coordinates_at()

◆ coordinates_for()

◆ free_at() [1/3]

◆ free_at() [2/3]

◆ free_at() [3/3]

◆ free_cells()

◆ free_near() [1/2]

◆ free_near() [2/2]

◆ obstacle_data()

template<typename Derived>
class beluga::BaseOccupancyGrid2< Derived >