beluga::Ray2d< OccupancyGrid, Algorithm > Class Template Reference

Castable 2D ray. More...

#include <raycasting.hpp>

Public Member Functions
std::optional< double >	cast (const Sophus::SO2d &bearing) const
	Casts ray along a given direction. More...
	Ray2d (const OccupancyGrid &grid, Algorithm algorithm, const Sophus::SE2d &source_pose, double max_range) noexcept
	Constructs 2D ray with an specific ray tracing algorithm. More...
	Ray2d (const OccupancyGrid &grid, const Sophus::SE2d &source_pose, double max_range) noexcept
	Constructs 2D ray with default ray tracing algorithm. More...
auto	trace (const Sophus::SO2d &bearing) const
	Computes ray trace along a given direction. More...

Private Attributes
const Algorithm	algorithm_
const OccupancyGrid &	grid_
const double	max_range_
const Eigen::Vector2i	source_cell_
const Sophus::SE2d	source_pose_in_local_frame_

Detailed Description

template<class OccupancyGrid, typename Algorithm = Bresenham2i>
class beluga::Ray2d< OccupancyGrid, Algorithm >

Castable 2D ray.

Template Parameters

OccupancyGrid	A 2D occupancy grid
Algorithm	A callable type, taking start and end grid cells for a ray and returning the full trace.

Definition at line 44 of file include/beluga/algorithm/raycasting.hpp.

Constructor & Destructor Documentation

Ray2d() [1/2]

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

beluga::Ray2d< OccupancyGrid, Algorithm >::Ray2d ( const OccupancyGrid &  grid, const Sophus::SE2d &  source_pose, double  max_range  )

inlineexplicitnoexcept

Constructs 2D ray with default ray tracing algorithm.

See Ray2d(const OccupancyGrid &, Algorithm, const Sophus::SE2d&, double) for further reference on constructor arguments.

Definition at line 51 of file include/beluga/algorithm/raycasting.hpp.

Ray2d() [2/2]

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

beluga::Ray2d< OccupancyGrid, Algorithm >::Ray2d ( const OccupancyGrid &  grid, Algorithm  algorithm, const Sophus::SE2d &  source_pose, double  max_range  )

inlineexplicitnoexcept

Constructs 2D ray with an specific ray tracing algorithm.

Parameters

grid	Grid on which to perform ray casting.
algorithm	Ray tracing algorithm implementation.
source_pose	Pose of the source of the ray in the same frame as that on which the grid origin is defined.
max_range	Maximum range for the ray, in meters.

Definition at line 62 of file include/beluga/algorithm/raycasting.hpp.

Member Function Documentation

cast()

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

std::optional<double> beluga::Ray2d< OccupancyGrid, Algorithm >::cast ( const Sophus::SO2d &  bearing ) const

inline

Casts ray along a given direction.

Distances are measured from cell centroid to cell centroid.

Parameters

bearing

Direction for ray casting.

Returns

Distance in meters to first non free cell hit by the ray, if any.

Definition at line 97 of file include/beluga/algorithm/raycasting.hpp.

trace()

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

auto beluga::Ray2d< OccupancyGrid, Algorithm >::trace ( const Sophus::SO2d &  bearing ) const

inline

Computes ray trace along a given direction.

Parameters

bearing

Direction for ray tracing.

Returns

Full range of grid cells traced by the ray. That is, regardless of grid cells' state.

Definition at line 79 of file include/beluga/algorithm/raycasting.hpp.

Member Data Documentation

algorithm_

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

const Algorithm beluga::Ray2d< OccupancyGrid, Algorithm >::algorithm_

private

Definition at line 111 of file include/beluga/algorithm/raycasting.hpp.

grid_

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

const OccupancyGrid& beluga::Ray2d< OccupancyGrid, Algorithm >::grid_

private

Definition at line 110 of file include/beluga/algorithm/raycasting.hpp.

max_range_

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

const double beluga::Ray2d< OccupancyGrid, Algorithm >::max_range_

private

Definition at line 114 of file include/beluga/algorithm/raycasting.hpp.

source_cell_

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

const Eigen::Vector2i beluga::Ray2d< OccupancyGrid, Algorithm >::source_cell_

private

Definition at line 113 of file include/beluga/algorithm/raycasting.hpp.

source_pose_in_local_frame_

template<class OccupancyGrid , typename Algorithm = Bresenham2i>

const Sophus::SE2d beluga::Ray2d< OccupancyGrid, Algorithm >::source_pose_in_local_frame_

private

Definition at line 112 of file include/beluga/algorithm/raycasting.hpp.

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

• include/beluga/algorithm/raycasting.hpp