Constructs an 2D grid. More...

#include <grid.hpp>

Public Member Functions
double	getCell (double x, double y) const
	Get the value of the cell at a specified position. More...

double	getCell (unsigned int i, unsigned int j) const
	Get the value of the cell at a specified index. More...

double	getCell (unsigned int idx) const
	Get the value of the cell at a specified index. More...

unsigned int	grid2RowMajor (unsigned int i, unsigned int j) const
	Converts grid indices to row major order index. More...

std::vector< double >	grid2World (unsigned int i, unsigned int j) const
	Convert grid coordinates to world position. More...

std::vector< double >	grid2World (unsigned int idx) const
	Convert row major index to world position. More...

bool	gridBounds (unsigned int i, unsigned int j) const
	Test if coordinates are within the grid. More...

bool	gridBounds (unsigned int idx) const
	Test if coordinates are within the grid. More...

const GridData &	gridData () const
	Return the grid data More...

	GridMap ()
	Constructor a empty grid. More...

	GridMap (const nav_msgs::OccupancyGrid::ConstPtr &grid_msg)
	Constructor. More...

	GridMap (double xmin, double xmax, double ymin, double ymax, double resolution, const GridData &grid_data)
	Constructor. More...

void	print () const
	Print grid properties. More...

double	resolution () const
	Return grid resolution. More...

std::vector< unsigned int >	rowMajor2Grid (unsigned int idx) const
	Convert row major index to row and column indices. More...

unsigned int	size () const
	Return grid size. More...

void	update (const nav_msgs::OccupancyGrid::ConstPtr &grid_msg)
	Update the grid. More...

std::vector< unsigned int >	world2Grid (double x, double y) const
	Convert world coordinates to row and column index in grid. More...

unsigned int	world2RowMajor (double x, double y) const
	Convert world coordinates to row major index. More...

double	xmax () const
	Return grid xmax. More...

double	xmin () const
	Return grid xmin. More...

unsigned int	xsize () const
	Return grid x-axis size. More...

double	ymax () const
	Return grid ymax. More...

double	ymin () const
	Return grid ymin. More...

unsigned int	ysize () const
	Return y-axis size. More...

Private Attributes
GridData	grid_data_

double	resolution_

double	xmax_

double	xmin_

unsigned int	xsize_

double	ymax_

double	ymin_

unsigned int	ysize_

Friends
class	OccupancyMapper

Detailed Description

Constructs an 2D grid.

Definition at line 79 of file grid.hpp.

Constructor & Destructor Documentation

◆ GridMap() [1/3]

ergodic_exploration::GridMap::GridMap	(	double	xmin,
		double	xmax,
		double	ymin,
		double	ymax,
		double	resolution,
		const GridData &	grid_data
	)

Constructor.

Parameters

xmin	- x low bound of grid
xmax	- x upper bound of grid
ymin	- y low bound of grid
ymax	- y upper bound of grid
resolution	- grid resolution
grid_ptr	- shared pointer to current grid data

Definition at line 46 of file grid.cpp.

◆ GridMap() [2/3]

ergodic_exploration::GridMap::GridMap ( const nav_msgs::OccupancyGrid::ConstPtr & grid_msg )

Constructor.

Parameters

grid_msg - ROS occupancy grid message

Definition at line 63 of file grid.cpp.

◆ GridMap() [3/3]

ergodic_exploration::GridMap::GridMap ( )

Constructor a empty grid.

Definition at line 79 of file grid.cpp.

Member Function Documentation

◆ getCell() [1/3]

double ergodic_exploration::GridMap::getCell	(	double	x,
		double	y
	)		const

Get the value of the cell at a specified position.

Parameters

x	- position in world (jth column)
y	- position in world (ith row)

Returns: value of the cell

Definition at line 167 of file grid.cpp.

◆ getCell() [2/3]

double ergodic_exploration::GridMap::getCell	(	unsigned int	i,
		unsigned int	j
	)		const

Get the value of the cell at a specified index.

Parameters

i	- row in the grid (y-coordinate)
j	- column in the grid (x-coordinate)

Returns: value of the cell

Definition at line 172 of file grid.cpp.

◆ getCell() [3/3]

double ergodic_exploration::GridMap::getCell ( unsigned int idx ) const

Get the value of the cell at a specified index.

Parameters

idx	- row major index

Returns: value of the cell

Definition at line 177 of file grid.cpp.

◆ grid2RowMajor()

unsigned int ergodic_exploration::GridMap::grid2RowMajor	(	unsigned int	i,
		unsigned int	j
	)		const

Converts grid indices to row major order index.

Parameters

i	- row in the grid (y-coordinate)
j	- column in the grid (x-coordinate)

Returns: grid index in row major order

Definition at line 109 of file grid.cpp.

◆ grid2World() [1/2]

std::vector< double > ergodic_exploration::GridMap::grid2World	(	unsigned int	i,
		unsigned int	j
	)		const

Convert grid coordinates to world position.

Parameters

i	- row in the grid (y-coordinate)
j	- column in the grid (x-coordinate)

Returns: the x and y coordinates in the world

Definition at line 126 of file grid.cpp.

◆ grid2World() [2/2]

std::vector< double > ergodic_exploration::GridMap::grid2World ( unsigned int idx ) const

Convert row major index to world position.

Parameters

idx	- row major index

Returns: the x and y coordinates in the world

Definition at line 133 of file grid.cpp.

◆ gridBounds() [1/2]

bool ergodic_exploration::GridMap::gridBounds	(	unsigned int	i,
		unsigned int	j
	)		const

Test if coordinates are within the grid.

Parameters

i	- row in the grid (y-coordinate)
j	- column in the grid (x-coordinate)

Returns: true if coordinates are within the grid

Definition at line 96 of file grid.cpp.

◆ gridBounds() [2/2]

bool ergodic_exploration::GridMap::gridBounds ( unsigned int idx ) const

Test if coordinates are within the grid.

Parameters

idx	- row major index

Returns: true if index is within the grid

Definition at line 102 of file grid.cpp.

◆ gridData()

const GridData& ergodic_exploration::GridMap::gridData ( ) const

inline

Return the grid data

Definition at line 202 of file grid.hpp.

◆ print()

void ergodic_exploration::GridMap::print ( ) const

Print grid properties.

Definition at line 186 of file grid.cpp.

◆ resolution()

double ergodic_exploration::GridMap::resolution ( ) const

inline

Return grid resolution.

Definition at line 208 of file grid.hpp.

◆ rowMajor2Grid()

std::vector< unsigned int > ergodic_exploration::GridMap::rowMajor2Grid ( unsigned int idx ) const

Convert row major index to row and column indices.

Parameters

idx	- row major index

Returns: row and column indices

Definition at line 119 of file grid.cpp.

◆ size()

unsigned int ergodic_exploration::GridMap::size ( ) const

inline

Return grid size.

Definition at line 250 of file grid.hpp.

◆ update()

void ergodic_exploration::GridMap::update ( const nav_msgs::OccupancyGrid::ConstPtr & grid_msg )

Update the grid.

Parameters

grid_msg - ROS occupancy grid message

Definition at line 84 of file grid.cpp.

◆ world2Grid()

std::vector< unsigned int > ergodic_exploration::GridMap::world2Grid	(	double	x,
		double	y
	)		const

Convert world coordinates to row and column index in grid.

Parameters

x	- position in world (jth column)
y	- position in world (ith row)

Returns: ith row and jth column in grid

Definition at line 143 of file grid.cpp.

◆ world2RowMajor()

unsigned int ergodic_exploration::GridMap::world2RowMajor	(	double	x,
		double	y
	)		const

Convert world coordinates to row major index.

Parameters

x	- position in world (jth column)
y	- position in world (ith row)

Returns: row major index

Definition at line 161 of file grid.cpp.

◆ xmax()

double ergodic_exploration::GridMap::xmax ( ) const

inline

Return grid xmax.

Definition at line 226 of file grid.hpp.

◆ xmin()

double ergodic_exploration::GridMap::xmin ( ) const

inline

Return grid xmin.

Definition at line 214 of file grid.hpp.

◆ xsize()

unsigned int ergodic_exploration::GridMap::xsize ( ) const

inline

Return grid x-axis size.

Definition at line 238 of file grid.hpp.

◆ ymax()

double ergodic_exploration::GridMap::ymax ( ) const

inline

Return grid ymax.

Definition at line 232 of file grid.hpp.

◆ ymin()

double ergodic_exploration::GridMap::ymin ( ) const

inline

Return grid ymin.

Definition at line 220 of file grid.hpp.

◆ ysize()

unsigned int ergodic_exploration::GridMap::ysize ( ) const

inline

Return y-axis size.

Definition at line 244 of file grid.hpp.

Friends And Related Function Documentation

◆ OccupancyMapper

friend class OccupancyMapper

friend

Definition at line 82 of file grid.hpp.

Member Data Documentation

◆ grid_data_

GridData ergodic_exploration::GridMap::grid_data_

private

Definition at line 258 of file grid.hpp.

◆ resolution_

double ergodic_exploration::GridMap::resolution_

private

Definition at line 257 of file grid.hpp.

◆ xmax_

double ergodic_exploration::GridMap::xmax_

private

Definition at line 257 of file grid.hpp.

◆ xmin_

double ergodic_exploration::GridMap::xmin_

private

Definition at line 257 of file grid.hpp.

◆ xsize_

unsigned int ergodic_exploration::GridMap::xsize_

private

Definition at line 256 of file grid.hpp.

◆ ymax_

double ergodic_exploration::GridMap::ymax_

private

Definition at line 257 of file grid.hpp.

◆ ymin_

double ergodic_exploration::GridMap::ymin_

private

Definition at line 257 of file grid.hpp.

◆ ysize_

unsigned int ergodic_exploration::GridMap::ysize_

private

Definition at line 256 of file grid.hpp.

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

Public Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GridMap() [1/3]

◆ GridMap() [2/3]

◆ GridMap() [3/3]

Member Function Documentation

◆ getCell() [1/3]

◆ getCell() [2/3]

◆ getCell() [3/3]

◆ grid2RowMajor()

◆ grid2World() [1/2]

◆ grid2World() [2/2]

◆ gridBounds() [1/2]

◆ gridBounds() [2/2]

◆ gridData()

◆ print()

◆ resolution()

◆ rowMajor2Grid()

◆ size()

◆ update()

◆ world2Grid()

◆ world2RowMajor()

◆ xmax()

◆ xmin()

◆ xsize()

◆ ymax()

◆ ymin()

◆ ysize()

Friends And Related Function Documentation

◆ OccupancyMapper

Member Data Documentation

◆ grid_data_

◆ resolution_

◆ xmax_

◆ xmin_

◆ xsize_

◆ ymax_

◆ ymin_

◆ ysize_