beluga_ros::OccupancyGrid Class Reference

Thin wrapper type for 2D nav_msgs/OccupancyGrid messages. More...

#include <occupancy_grid.hpp>

Inheritance diagram for beluga_ros::OccupancyGrid:

Classes
struct	ValueTraits
	Traits for occupancy grid value interpretation. More...

Public Member Functions
const auto &	data () const
	Get a reference to the underlying data storeage (ie. a row-major array). More...
std::size_t	height () const
	Get the height of the occupancy grid. More...
	OccupancyGrid (beluga_ros::msg::OccupancyGridConstSharedPtr grid)
const Sophus::SE2d &	origin () const
	Get the occupancy grid origin in the occupancy grid frame. More...
double	resolution () const
	Get the resolution of the occupancy grid discretization, in meters. More...
std::size_t	size () const
	Get the size of the occupancy grid (width() times height()). More...
std::size_t	width () const
	Get the width of the occupancy grid. More...
Public Member Functions inherited from beluga::BaseOccupancyGrid2< OccupancyGrid >
auto	coordinates_at (std::size_t index, Frame frame) const
auto	coordinates_for (Range &&cells, Frame frame) const
bool	free_at (const Eigen::Vector2i &pi) const
bool	free_at (int xi, int yi) const
bool	free_at (std::size_t index) const
auto	free_cells () const
bool	free_near (const Eigen::Vector2d &p) const
bool	free_near (double x, double y) const
auto	obstacle_data () const
Public Member Functions inherited from beluga::BaseLinearGrid2< class >
Eigen::Vector2d	coordinates_at (std::size_t index) const
auto	data_at (std::size_t index) const
std::size_t	index_at (const Eigen::Vector2i &pi) const
std::size_t	index_at (int xi, int yi) const
auto	neighborhood4 (std::size_t index) const
Public Member Functions inherited from beluga::BaseDenseGrid2< class >
bool	contains (const Eigen::Vector2i &pi) const
bool	contains (int xi, int yi) const
auto	data_at (const Eigen::Vector2i &pi) const
auto	data_at (int xi, int yi) const
auto	data_near (const Eigen::Vector2d &p) const
auto	data_near (double x, double y) const
auto	neighborhood4 (const Eigen::Vector2i &pi) const
auto	neighborhood4 (int xi, int yi) const
Public Member Functions inherited from beluga::BaseRegularGrid< class, NDim >
Eigen::Vector< int, NDim >	cell_near (const Eigen::Vector< double, NDim > &p) const
Eigen::Vector< double, NDim >	coordinates_at (const Eigen::Vector< int, NDim > &pi) const
auto	coordinates_for (Range &&cells) const

Static Public Member Functions
static auto	value_traits ()
	Get the traits for occupancy grid value interpretation. More...

Static Private Member Functions
static Sophus::SE2d	make_origin_transform (const beluga_ros::msg::Pose &origin)

Private Attributes
beluga_ros::msg::OccupancyGridConstSharedPtr	grid_
Sophus::SE2d	origin_

Additional Inherited Members
Public Types inherited from beluga::BaseOccupancyGrid2< OccupancyGrid >
enum	Frame

Detailed Description

Thin wrapper type for 2D nav_msgs/OccupancyGrid messages.

Definition at line 47 of file occupancy_grid.hpp.

Constructor & Destructor Documentation

OccupancyGrid()

beluga_ros::OccupancyGrid::OccupancyGrid ( beluga_ros::msg::OccupancyGridConstSharedPtr  grid )

inlineexplicit

Constructor.

Parameters

grid	Occupancy grid message.

Definition at line 74 of file occupancy_grid.hpp.

Member Function Documentation

data()

const auto& beluga_ros::OccupancyGrid::data ( ) const

inline

Get a reference to the underlying data storeage (ie. a row-major array).

Definition at line 84 of file occupancy_grid.hpp.

height()

std::size_t beluga_ros::OccupancyGrid::height ( ) const

inline

Get the height of the occupancy grid.

Definition at line 90 of file occupancy_grid.hpp.

make_origin_transform()

static Sophus::SE2d beluga_ros::OccupancyGrid::make_origin_transform ( const beluga_ros::msg::Pose &  origin )

inlinestaticprivate

Definition at line 102 of file occupancy_grid.hpp.

origin()

const Sophus::SE2d& beluga_ros::OccupancyGrid::origin ( ) const

inline

Get the occupancy grid origin in the occupancy grid frame.

Definition at line 78 of file occupancy_grid.hpp.

resolution()

double beluga_ros::OccupancyGrid::resolution ( ) const

inline

Get the resolution of the occupancy grid discretization, in meters.

Definition at line 93 of file occupancy_grid.hpp.

size()

std::size_t beluga_ros::OccupancyGrid::size ( ) const

inline

Get the size of the occupancy grid (width() times height()).

Definition at line 81 of file occupancy_grid.hpp.

value_traits()

static auto beluga_ros::OccupancyGrid::value_traits ( )

inlinestatic

Get the traits for occupancy grid value interpretation.

Definition at line 96 of file occupancy_grid.hpp.

width()

std::size_t beluga_ros::OccupancyGrid::width ( ) const

inline

Get the width of the occupancy grid.

Definition at line 87 of file occupancy_grid.hpp.

Member Data Documentation

grid_

beluga_ros::msg::OccupancyGridConstSharedPtr beluga_ros::OccupancyGrid::grid_

private

Definition at line 99 of file occupancy_grid.hpp.

origin_

Sophus::SE2d beluga_ros::OccupancyGrid::origin_

private

Definition at line 100 of file occupancy_grid.hpp.

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

• occupancy_grid.hpp