hectorslam::GridMapBase< ConcreteCellType > Class Template Reference

#include <GridMapBase.h>

Inheritance diagram for hectorslam::GridMapBase< ConcreteCellType >:

List of all members.

Public Member Functions
void	allocateArray (const Eigen::Vector2i &newMapDims)
void	clear ()
void	deleteArray ()
ConcreteCellType &	getCell (int x, int y)
const ConcreteCellType &	getCell (int x, int y) const
ConcreteCellType &	getCell (int index)
const ConcreteCellType &	getCell (int index) const
float	getCellLength () const
Eigen::Vector2f	getMapCoords (const Eigen::Vector2f &worldCoords) const
Eigen::Vector3f	getMapCoordsPose (const Eigen::Vector3f &worldPose) const
const Eigen::Vector2i &	getMapDimensions () const
const MapDimensionProperties &	getMapDimProperties () const
bool	getMapExtends (int &xMax, int &yMax, int &xMin, int &yMin) const
const Eigen::Affine2f &	getMapTworld () const
float	getScaleToMap () const
int	getSizeX () const
int	getSizeY () const
int	getUpdateIndex () const
Eigen::Vector2f	getWorldCoords (const Eigen::Vector2f &mapCoords) const
Eigen::Vector3f	getWorldCoordsPose (const Eigen::Vector3f &mapPose) const
const Eigen::Affine2f &	getWorldTmap () const
const Eigen::Affine3f &	getWorldTmap3D () const
	GridMapBase (float mapResolution, const Eigen::Vector2i &size, const Eigen::Vector2f &offset)
	GridMapBase (const GridMapBase &other)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	hasGridValue (int x, int y) const
GridMapBase &	operator= (const GridMapBase &other)
bool	pointOutOfMapBounds (const Eigen::Vector2f &pointMapCoords) const
virtual void	reset ()
void	setDimensionProperties (const Eigen::Vector2f &topLeftOffsetIn, const Eigen::Vector2i &mapDimensionsIn, float cellLengthIn)
void	setDimensionProperties (const MapDimensionProperties &newMapDimProps)
void	setMapGridSize (const Eigen::Vector2i &newMapDims)
void	setMapTransformation (const Eigen::Vector2f &topLeftOffset, float cellLength)
void	setUpdated ()
virtual	~GridMapBase ()
Protected Attributes
ConcreteCellType *	mapArray
	Map representation used with plain pointer array.
MapDimensionProperties	mapDimensionProperties
Eigen::Affine2f	mapTworld
	Homogenous 2D transform from world to map coordinates.
float	scaleToMap
	Scaling factor from world to map.
int	sizeX
Eigen::Affine2f	worldTmap
	Homogenous 2D transform from map to world coordinates.
Eigen::Affine3f	worldTmap3D
	Homogenous 3D transform from map to world coordinates.
Private Attributes
int	lastUpdateIndex

---

Detailed Description

template<typename ConcreteCellType>
class hectorslam::GridMapBase< ConcreteCellType >

GridMapBase provides basic grid map functionality (creates grid , provides transformation from/to world coordinates). It serves as the base class for different map representations that may extend it's functionality.

Definition at line 44 of file GridMapBase.h.

---

Constructor & Destructor Documentation

template<typename ConcreteCellType >

hectorslam::GridMapBase< ConcreteCellType >::GridMapBase	(	float	mapResolution,
		const Eigen::Vector2i &	size,
		const Eigen::Vector2f &	offset
	)		[inline]

Constructor, creates grid representation and transformations.

Definition at line 95 of file GridMapBase.h.

template<typename ConcreteCellType >

virtual hectorslam::GridMapBase< ConcreteCellType >::~GridMapBase

(

)

[inline, virtual]

Destructor

Definition at line 112 of file GridMapBase.h.

template<typename ConcreteCellType >

hectorslam::GridMapBase< ConcreteCellType >::GridMapBase

(

const GridMapBase< ConcreteCellType > &

other

)

[inline]

Copy Constructor, only needed if pointer members are present.

Definition at line 173 of file GridMapBase.h.

---

Member Function Documentation

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::allocateArray

(

const Eigen::Vector2i &

newMapDims

)

[inline]

Allocates memory for the two dimensional pointer array for map representation.

Definition at line 120 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::clear

(

void

)

[inline]

Resets the grid cell values by using the resetGridCell() function.

Definition at line 77 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::deleteArray

(

)

[inline]

Definition at line 130 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell	(	int	x,
		int	y
	)		[inline]

Definition at line 141 of file GridMapBase.h.

template<typename ConcreteCellType >

const ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell	(	int	x,
		int	y
	)		const [inline]

Definition at line 146 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell

(

int

index

)

[inline]

Definition at line 151 of file GridMapBase.h.

template<typename ConcreteCellType >

const ConcreteCellType& hectorslam::GridMapBase< ConcreteCellType >::getCell

(

int

index

)

const [inline]

Definition at line 156 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::getCellLength

(

)

const [inline]

Returns the cell edge length of grid cells in millimeters.

Returns:

the cell edge length in millimeters.

Definition at line 296 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector2f hectorslam::GridMapBase< ConcreteCellType >::getMapCoords

(

const Eigen::Vector2f &

worldCoords

)

const [inline]

Returns the map coordinates for the given world coords.

Definition at line 218 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector3f hectorslam::GridMapBase< ConcreteCellType >::getMapCoordsPose

(

const Eigen::Vector3f &

worldPose

)

const [inline]

Returns the map pose for the given world pose.

Definition at line 235 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Vector2i& hectorslam::GridMapBase< ConcreteCellType >::getMapDimensions

(

)

const [inline]

Definition at line 60 of file GridMapBase.h.

template<typename ConcreteCellType >

const MapDimensionProperties& hectorslam::GridMapBase< ConcreteCellType >::getMapDimProperties

(

)

const [inline]

Definition at line 90 of file GridMapBase.h.

template<typename ConcreteCellType >

bool hectorslam::GridMapBase< ConcreteCellType >::getMapExtends	(	int &	xMax,
		int &	yMax,
		int &	xMin,
		int &	yMin
	)		const [inline]

Returns the rectangle ([xMin,yMin],[xMax,xMax]) containing non-default cell values

Definition at line 334 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine2f& hectorslam::GridMapBase< ConcreteCellType >::getMapTworld

(

)

const [inline]

Returns a reference to the homogenous 2D transform from world to map coordinates.

Returns:

The homogenous 2D transform.

Definition at line 323 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::getScaleToMap

(

)

const [inline]

Returns the scale factor for one unit in world coords to one unit in map coords.

Returns:

The scale factor

Definition at line 287 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getSizeX

(

)

const [inline]

Definition at line 61 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getSizeY

(

)

const [inline]

Definition at line 62 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::getUpdateIndex

(

)

const [inline]

Definition at line 329 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector2f hectorslam::GridMapBase< ConcreteCellType >::getWorldCoords

(

const Eigen::Vector2f &

mapCoords

)

const [inline]

Returns the world coordinates for the given map coords.

Definition at line 210 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Vector3f hectorslam::GridMapBase< ConcreteCellType >::getWorldCoordsPose

(

const Eigen::Vector3f &

mapPose

)

const [inline]

Returns the world pose for the given map pose.

Definition at line 226 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine2f& hectorslam::GridMapBase< ConcreteCellType >::getWorldTmap

(

)

const [inline]

Returns a reference to the homogenous 2D transform from map to world coordinates.

Returns:

The homogenous 2D transform.

Definition at line 305 of file GridMapBase.h.

template<typename ConcreteCellType >

const Eigen::Affine3f& hectorslam::GridMapBase< ConcreteCellType >::getWorldTmap3D

(

)

const [inline]

Returns a reference to the homogenous 3D transform from map to world coordinates.

Returns:

The homogenous 3D transform.

Definition at line 314 of file GridMapBase.h.

template<typename ConcreteCellType >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool hectorslam::GridMapBase< ConcreteCellType >::hasGridValue	(	int	x,
		int	y
	)		const [inline]

Indicates if given x and y are within map bounds

Returns:

True if coordinates are within map bounds

Definition at line 55 of file GridMapBase.h.

template<typename ConcreteCellType >

GridMapBase& hectorslam::GridMapBase< ConcreteCellType >::operator=

(

const GridMapBase< ConcreteCellType > &

other

)

[inline]

Assignment operator, only needed if pointer members are present.

Definition at line 182 of file GridMapBase.h.

template<typename ConcreteCellType >

bool hectorslam::GridMapBase< ConcreteCellType >::pointOutOfMapBounds

(

const Eigen::Vector2f &

pointMapCoords

)

const [inline]

Definition at line 64 of file GridMapBase.h.

template<typename ConcreteCellType >

virtual void hectorslam::GridMapBase< ConcreteCellType >::reset

(

)

[inline, virtual]

Definition at line 69 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setDimensionProperties	(	const Eigen::Vector2f &	topLeftOffsetIn,
		const Eigen::Vector2i &	mapDimensionsIn,
		float	cellLengthIn
	)		[inline]

Definition at line 241 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setDimensionProperties

(

const MapDimensionProperties &

newMapDimProps

)

[inline]

Definition at line 246 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setMapGridSize

(

const Eigen::Vector2i &

newMapDims

)

[inline]

Definition at line 161 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setMapTransformation	(	const Eigen::Vector2f &	topLeftOffset,
		float	cellLength
	)		[inline]

Set the map transformations

Parameters:

xWorld	The origin of the map coordinate system on the x axis in world coordinates
yWorld	The origin of the map coordinate system on the y axis in world coordinates
The	cell length of the grid map

Definition at line 265 of file GridMapBase.h.

template<typename ConcreteCellType >

void hectorslam::GridMapBase< ConcreteCellType >::setUpdated

(

)

[inline]

Definition at line 328 of file GridMapBase.h.

---

Member Data Documentation

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::lastUpdateIndex [private]

Definition at line 399 of file GridMapBase.h.

template<typename ConcreteCellType >

ConcreteCellType* hectorslam::GridMapBase< ConcreteCellType >::mapArray [protected]

Map representation used with plain pointer array.

Definition at line 387 of file GridMapBase.h.

template<typename ConcreteCellType >

MapDimensionProperties hectorslam::GridMapBase< ConcreteCellType >::mapDimensionProperties [protected]

Definition at line 395 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine2f hectorslam::GridMapBase< ConcreteCellType >::mapTworld [protected]

Homogenous 2D transform from world to map coordinates.

Definition at line 393 of file GridMapBase.h.

template<typename ConcreteCellType >

float hectorslam::GridMapBase< ConcreteCellType >::scaleToMap [protected]

Scaling factor from world to map.

Definition at line 389 of file GridMapBase.h.

template<typename ConcreteCellType >

int hectorslam::GridMapBase< ConcreteCellType >::sizeX [protected]

Definition at line 396 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine2f hectorslam::GridMapBase< ConcreteCellType >::worldTmap [protected]

Homogenous 2D transform from map to world coordinates.

Definition at line 391 of file GridMapBase.h.

template<typename ConcreteCellType >

Eigen::Affine3f hectorslam::GridMapBase< ConcreteCellType >::worldTmap3D [protected]

Homogenous 3D transform from map to world coordinates.

Definition at line 392 of file GridMapBase.h.

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

• GridMapBase.h