occupancy_grid_utils Namespace Reference

Classes
struct	Cell
struct	CellOutOfBoundsException
	Exception for Cell off map. More...
struct	CellsInPolygon
struct	DataSizeException
	Exception when data field is not a vector of the right size. More...
class	DistanceField
struct	DistanceQueueItem
struct	GridUtilsException
	Base class for exceptions from this package. More...
struct	InflationQueueItem
struct	Line
struct	PointOutOfBoundsException
	Exception for point off map. More...
struct	PQItem
struct	QueueItem
class	RayTraceIterator
struct	ShortestPathResult
struct	TerminationCondition
	Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop. Note that, confusingly, max_dist is in cells though shortest path returns meters by default. Currently, we warn if use_cells is set to true below. In future (H-turtle), this api will actually change to only allow meters. goals is a set such that once we've expanded all the cells in this set, we stop. More...
Typedefs
typedef std::pair< Path, double >	AStarResult
typedef std::set< Cell >	Cells
typedef int16_t	coord_t
typedef boost::shared_ptr < nm::OccupancyGrid const >	GridConstPtr
typedef boost::shared_ptr < nm::OccupancyGrid >	GridPtr
typedef uint32_t	index_t
typedef std::vector< Cell >	Path
typedef std::pair < RayTraceIterator, RayTraceIterator >	RayTraceIterRange
typedef boost::shared_ptr < ShortestPathResult >	ResultPtr
Functions
void	addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Raytrace a cloud onto grid in overlay.
void	addCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud, const int inc)
void	addKnownFreePoint (OverlayClouds *overlay, const geometry_msgs::Point &p, double r)
	Assert that a square centered at this point with side 2*r contains no obstacles.
void	addKnownFreePoint (OverlayClouds *overlay, const gm::Point &p, const double r)
void	allocateGrid (nav_msgs::OccupancyGrid &grid)
	BOOST_PYTHON_MODULE (occupancy_grid_utils)
geometry_msgs::Point	cellCenter (const nav_msgs::MapMetaData &info, const Cell &c)
	Return center of a cell.
index_t	cellIndex (const nav_msgs::MapMetaData &info, const Cell &c)
	Returns the index of a cell.
gm::Polygon	cellPolygon (const nm::MapMetaData &info, const Cell &c)
geometry_msgs::Polygon	cellPolygon (const nav_msgs::MapMetaData &info, const Cell &c)
	Return polygon corresponding to a cell.
std::set< Cell >	cellsInConvexPolygon (const nav_msgs::MapMetaData &info, const geometry_msgs::Polygon &p)
Cells	cellsInConvexPolygon (const nm::MapMetaData &info, const gm::Polygon &poly)
bool	cellsIntersect (const nm::MapMetaData &info1, const Cell &c1, const nm::MapMetaData &info2, const Cell &c2)
vector< Cell >	cellVectorInConvexPolygon (const nm::MapMetaData &info, const gm::Polygon &p)
bool	cellWithinBounds (const nm::MapMetaData &info, const Cell &c)
Cell	center (const nm::MapMetaData &info, const gm::Polygon &poly)
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids, double resolution)
	Combines a set of grids.
nav_msgs::OccupancyGrid::Ptr	combineGrids (const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &grids)
	Version of combineGrids that uses the resolution of the first grid.
GridPtr	combineGrids (const vector< GridConstPtr > &grids, const double resolution)
GridPtr	combineGrids (const vector< GridConstPtr > &grids)
bool	containsVertex (const nm::MapMetaData &info, const Cell &c, const gm::Polygon &poly)
OverlayClouds	createCloudOverlay (const nav_msgs::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold=DEFAULT_OCCUPANCY_THRESHOLD, double max_distance=DEFAULT_MAX_DISTANCE, double min_pass_through=DEFAULT_MIN_PASS_THROUGH)
	Create a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.
OverlayClouds	createCloudOverlay (const nm::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold, double max_distance, double min_pass_through)
int8_t	determineOccupancy (const unsigned hit_count, const unsigned pass_through_count, const double occupancy_threshold, const double min_pass_through)
boost::optional< double >	distance (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
DistanceField	distanceField (const nav_msgs::OccupancyGrid &m, float max_dist=-42)
boost::optional< double >	distanceTo (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
double	euclideanDistance (const gm::Point &p1, const gm::Point &p2)
gm::Polygon	expandPolygon (const gm::Polygon &p, const double r)
void	exportRosMessages ()
void	exportSTL ()
boost::optional< Path >	extractPath (ResultPtr shortest_path_result, const Cell &dest)
	Extract a path from the result of single-source shortest paths.
template<class Visitor >
void	flood_fill (const nm::MapMetaData &info, const std::set< Cell > &start, Visitor &vis)
template<class Visitor >
void	flood_fill (const nm::MapMetaData &info, const Cell &start, Visitor &vis)
int	getCell (const nav_msgs::OccupancyGrid &grid, const Cell &c)
nm::MapMetaData	getCombinedGridInfo (const vector< GridConstPtr > &grids, const double resolution)
nav_msgs::OccupancyGrid::Ptr	getGrid (const OverlayClouds &overlay)
	Get the current grid. It's fine to modify the returned object.
nav_msgs::MapMetaData	gridInfo (const OverlayClouds &overlay)
gm::Polygon	gridPolygon (const nm::MapMetaData &info)
geometry_msgs::Polygon	gridPolygon (const nav_msgs::MapMetaData &info)
	Return polygon corresponding to grid bounds.
geometry_msgs::Pose	identityPose ()
Cell	indexCell (const nav_msgs::MapMetaData &info, index_t ind)
	Returns cell corresponding to index.
nav_msgs::OccupancyGrid::Ptr	inflateObstacles (const nav_msgs::OccupancyGrid &g, double r, bool allow_unknown=false)
	Inflate obstacles in a grid.
GridPtr	inflateObstacles (const nm::OccupancyGrid &g, const double r, const bool allow_unknown)
set< Cell >	intersectingCells (const nm::MapMetaData &info, const nm::MapMetaData &info2, const Cell &cell2)
nav_msgs::OccupancyGrid::Ptr	loadGrid (const std::string &fname, double resolution=1.0, const geometry_msgs::Pose &origin=identityPose())
	Load an occ grid from an image file.
nm::OccupancyGrid::Ptr	loadGrid (const std::string &fname, const double resolution, const gm::Pose &origin_pose)
nm::OccupancyGrid::Ptr	loadGrid1 (const string &fname)
nm::OccupancyGrid::Ptr	loadGrid2 (const string &fname, const double resolution)
nm::OccupancyGrid::Ptr	loadGrid3 (const string &fname, const double res, const gm::Pose &p)
void	loadMapFromFile (nav_msgs::GetMap::Response *resp, const char *fname, double res, bool negate, double occ_th, double free_th, double *origin)
double	manhattanHeuristic (const Cell &c1, const Cell &c2)
tf::Transform	mapToWorld (const nav_msgs::MapMetaData &info)
double	maxX (const nm::MapMetaData &info)
double	maxY (const nm::MapMetaData &info)
double	minX (const nm::MapMetaData &info)
double	minY (const nm::MapMetaData &info)
bool	myGt (const signed char x, const signed char y)
bool	operator< (const QueueItem &i1, const QueueItem &i2)
std::ostream &	operator<< (std::ostream &str, const Cell &c)
Cell	point32Cell (const nm::MapMetaData &info, const gm::Point32 &p)
Cell	pointCell (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns cell corresponding to a point.
index_t	pointIndex (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Returns index of a point.
gm::Point	rayEndPoint (const gm::Point &p0, const double theta, const double d)
RayTraceIterRange	rayTrace (const Cell &c1, const Cell &c2)
RayTraceIterRange	rayTrace (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p1, const geometry_msgs::Point &p2, bool project_target_onto_grid=false, bool project_source_onto_grid=false)
	Returns an iterator range over the cells on the line segment between two points (inclusive).
RayTraceIterRange	rayTrace (const nm::MapMetaData &info, const gm::Point &p1, const gm::Point &p2, bool project_onto_grid, bool project_source_onto_grid)
optional< Cell >	rayTraceOntoGrid (const nm::MapMetaData &info, const Cell &c1, const Cell &c2)
void	removeCloud (OverlayClouds *overlay, LocalizedCloud::ConstPtr cloud)
	Effectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay.
void	resetCounts (OverlayClouds *overlay)
void	setCell (nav_msgs::OccupancyGrid &grid, const Cell &c, const int x)
boost::optional< AStarResult >	shortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search that returns distance in cells. Deprecated; use shortestPathAStar instead.using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.
optional< AStarResult >	shortestPath (const nm::OccupancyGrid &g, const Cell &src, const Cell &dest)
boost::optional< AStarResult >	shortestPathAStar (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search using Manhattan distance cost and heuristic, with only horizontal and/// vertical neighbors.
optional< AStarResult >	shortestPathAStar (const nm::OccupancyGrid &g, const Cell &src, const Cell &dest)
ResultPtr	shortestPathResultFromMessage (const NavigationFunction &msg)
	Convert a shortest path result from a ros message.
NavigationFunction	shortestPathResultToMessage (ResultPtr res)
	Convert a shortest path result to a ros message.
int8_t	sign (const coord_t x)
sensor_msgs::LaserScan::Ptr	simulateRangeScan (const nav_msgs::OccupancyGrid &grid, const geometry_msgs::Pose &sensor_pose, const sensor_msgs::LaserScan &scanner_info, bool unknown_cells_are_obstacles=false)
	Simulate a planar laser range scan.
sm::LaserScan::Ptr	simulateRangeScan (const nm::OccupancyGrid &grid, const gm::Pose &sensor_pose, const sm::LaserScan &scanner_info, const bool unknown_obstacles)
sm::LaserScan::Ptr	simulateRangeScan3 (const nm::OccupancyGrid &grid, const gm::Pose &sensor_pose, const sm::LaserScan &scanner_info)
sm::LaserScan::Ptr	simulateRangeScan4 (const nm::OccupancyGrid &grid, const gm::Pose &sensor_pose, const sm::LaserScan &scanner_info, const bool unknown_obstacles)
ResultPtr	singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, bool manhattan=false)
	Single source Dijkstra's algorithm.
ResultPtr	singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, const TerminationCondition &term, bool manhattan=false)
	Single source Dijkstra's algorithm.
ResultPtr	singleSourceShortestPaths (const nm::OccupancyGrid &g, const Cell &src, const bool manhattan)
ResultPtr	singleSourceShortestPaths (const nm::OccupancyGrid &g, const Cell &src, const TerminationCondition &t, const bool manhattan)
ResultPtr	sssp1 (const nav_msgs::OccupancyGrid &g, const Cell &start, const double max_dist)
double	ssspDistance (ResultPtr res, const Cell &dest)
template<typename Pred >
std::set< Cell >	tileCells (const nm::MapMetaData &info, const float d, const Pred &pred)
template<typename Pred >
std::set< Cell >	tileCells (const nav_msgs::MapMetaData &info, float d, const Pred &p)
gm::Pose	transformPose (const tf::Pose trans, const gm::Pose p)
gm::Point	transformPt (const tf::Pose &trans, const gm::Point32 &p)
void	verifyDataSize (const nm::OccupancyGrid &g)
void	verifyDataSize (const nav_msgs::OccupancyGrid &g)
	Verify that data vector has the right size, throw DataSizeException otherwise.
bool	withinBounds (const nav_msgs::MapMetaData &info, const geometry_msgs::Point &p)
	Check if a point is on the grid.
bool	withinBounds (const nav_msgs::MapMetaData &info, const Cell &c)
	Check if a cell is on the grid.
bool	withinBoundsCell (const nm::MapMetaData &info, const Cell &c)
bool	withinBoundsPoint (const nm::MapMetaData &info, const gm::Point &p)
tf::Transform	worldToMap (const nav_msgs::MapMetaData &info)
Variables
const double	DEFAULT_FREE_THRESHOLD = 0.196
const double	DEFAULT_MAX_DISTANCE = 10.0
	Default max_distance for OverlayClouds.
const double	DEFAULT_MIN_PASS_THROUGH = 2
	Default min_pass_through for OverlayClouds.
const double	DEFAULT_OCC_THRESHOLD = 0.65
const double	DEFAULT_OCCUPANCY_THRESHOLD = 0.1
	Default occupancy threshold for OverlayClouds.
const int8_t	OCCUPIED = 100
const int8_t	UNKNOWN = 255
const int8_t	UNOCCUPIED = 0

---

Typedef Documentation

typedef std::pair< Path, double > occupancy_grid_utils::AStarResult

Definition at line 77 of file shortest_path.h.

typedef std::set< Cell > occupancy_grid_utils::Cells

Definition at line 44 of file geometry.hpp.

typedef int16_t occupancy_grid_utils::coord_t

Definition at line 60 of file coordinate_conversions.h.

typedef boost::shared_ptr< nm::OccupancyGrid const > occupancy_grid_utils::GridConstPtr

Definition at line 66 of file combine_grids.cpp.

typedef boost::shared_ptr< nm::OccupancyGrid > occupancy_grid_utils::GridPtr

Definition at line 65 of file combine_grids.cpp.

typedef uint32_t occupancy_grid_utils::index_t

Definition at line 59 of file coordinate_conversions.h.

typedef vector< Cell > occupancy_grid_utils::Path

Definition at line 76 of file shortest_path.h.

typedef std::pair<RayTraceIterator, RayTraceIterator> occupancy_grid_utils::RayTraceIterRange

Definition at line 20 of file ray_tracer.h.

typedef boost::shared_ptr<ShortestPathResult> occupancy_grid_utils::ResultPtr

Definition at line 73 of file shortest_path.h.

---

Function Documentation

void occupancy_grid_utils::addCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud
	)

Raytrace a cloud onto grid in overlay.

Definition at line 201 of file grid_overlay.cpp.

void occupancy_grid_utils::addCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud,
		const int	inc
	)

Definition at line 131 of file grid_overlay.cpp.

void occupancy_grid_utils::addKnownFreePoint	(	OverlayClouds *	overlay,
		const geometry_msgs::Point &	p,
		double	r
	)

Assert that a square centered at this point with side 2*r contains no obstacles.

void occupancy_grid_utils::addKnownFreePoint	(	OverlayClouds *	overlay,
		const gm::Point &	p,
		const double	r
	)

Definition at line 110 of file grid_overlay.cpp.

void occupancy_grid_utils::allocateGrid

(

nav_msgs::OccupancyGrid &

grid

)

Definition at line 130 of file boost_python_exports.cpp.

occupancy_grid_utils::BOOST_PYTHON_MODULE

(

occupancy_grid_utils

)

Definition at line 213 of file boost_python_exports.cpp.

geometry_msgs::Point occupancy_grid_utils::cellCenter	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		[inline]

Return center of a cell.

Definition at line 167 of file coordinate_conversions.h.

index_t occupancy_grid_utils::cellIndex	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		[inline]

Returns the index of a cell.

Exceptions:

CellOutOfBoundsException

if cell isn't within grid bounds

Definition at line 122 of file coordinate_conversions.h.

gm::Polygon occupancy_grid_utils::cellPolygon	(	const nm::MapMetaData &	info,
		const Cell &	c
	)

Definition at line 47 of file coordinate_conversions.cpp.

geometry_msgs::Polygon occupancy_grid_utils::cellPolygon	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)

Return polygon corresponding to a cell.

std::set<Cell> occupancy_grid_utils::cellsInConvexPolygon	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Polygon &	p
	)

Return values:

Set	of cells in the region bounded by convex polygon p

Cells that are partly in the polygon (because they intersect the boundary) are included. Cells that intersect the polygon only along an edge or corner may or may not be included.

Cells occupancy_grid_utils::cellsInConvexPolygon	(	const nm::MapMetaData &	info,
		const gm::Polygon &	poly
	)

Definition at line 197 of file geometry.cpp.

bool occupancy_grid_utils::cellsIntersect	(	const nm::MapMetaData &	info1,
		const Cell &	c1,
		const nm::MapMetaData &	info2,
		const Cell &	c2
	)		[inline]

Definition at line 89 of file combine_grids.cpp.

vector<Cell> occupancy_grid_utils::cellVectorInConvexPolygon	(	const nm::MapMetaData &	info,
		const gm::Polygon &	p
	)

Definition at line 205 of file boost_python_exports.cpp.

bool occupancy_grid_utils::cellWithinBounds	(	const nm::MapMetaData &	info,
		const Cell &	c
	)		[inline]

Definition at line 28 of file ray_tracer.cpp.

Cell occupancy_grid_utils::center	(	const nm::MapMetaData &	info,
		const gm::Polygon &	poly
	)

Definition at line 179 of file geometry.cpp.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids	(	const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &	grids,
		double	resolution
	)

Combines a set of grids.

The resulting grid's origin will be a translated version of grid 1's origin, with resolution resolution

The policy for combination is that for each cell, we look at each grid cell that intersects it and consider their values. Map these to integers, where everything above OCCUPIED (100) goes to -1. Then take the max. If there are no intersecting cells, value is -1.

Assumes all grids lie on the xy plane, and will fail in weird ways if that's not true

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::combineGrids

(

const std::vector< nav_msgs::OccupancyGrid::ConstPtr > &

grids

)

Version of combineGrids that uses the resolution of the first grid.

GridPtr occupancy_grid_utils::combineGrids	(	const vector< GridConstPtr > &	grids,
		const double	resolution
	)

Definition at line 230 of file combine_grids.cpp.

GridPtr occupancy_grid_utils::combineGrids

(

const vector< GridConstPtr > &

grids

)

Definition at line 261 of file combine_grids.cpp.

bool occupancy_grid_utils::containsVertex	(	const nm::MapMetaData &	info,
		const Cell &	c,
		const gm::Polygon &	poly
	)		[inline]

Definition at line 78 of file combine_grids.cpp.

OverlayClouds occupancy_grid_utils::createCloudOverlay	(	const nav_msgs::OccupancyGrid &	grid,
		const std::string &	frame_id,
		double	occupancy_threshold = DEFAULT_OCCUPANCY_THRESHOLD,
		double	max_distance = DEFAULT_MAX_DISTANCE,
		double	min_pass_through = DEFAULT_MIN_PASS_THROUGH
	)

Create a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.

Parameters:

grid	Contains the geometry of the underlying grid. Additionally, iff the data field of this object is nonempty, rays will not be allowed to pass through obstacles in the grid.
frame_id	The frame name for the overlaid grid. Added clouds must have this frame_id
occupancy_threshold	what fraction of rays through the cell must end there for it to be considered an obstacle
max_distance	hits beyond this distance from the source are ignored
min_pass_through	cells with fewer than this many rays through them are marked UNKNOWN

OverlayClouds occupancy_grid_utils::createCloudOverlay	(	const nm::OccupancyGrid &	grid,
		const std::string &	frame_id,
		double	occupancy_threshold,
		double	max_distance,
		double	min_pass_through
	)

Definition at line 94 of file grid_overlay.cpp.

int8_t occupancy_grid_utils::determineOccupancy	(	const unsigned	hit_count,
		const unsigned	pass_through_count,
		const double	occupancy_threshold,
		const double	min_pass_through
	)		[inline]

Definition at line 79 of file grid_overlay.cpp.

boost::optional< double > occupancy_grid_utils::distance	(	ResultPtr	shortest_path_result,
		const Cell &	dest
	)

From result of single-source shortest paths, extract distance to some destination.

deprecated

Return values:

Distance

if path exists, uninitialized otherwise

Definition at line 86 of file shortest_path.cpp.

DistanceField occupancy_grid_utils::distanceField	(	const nav_msgs::OccupancyGrid &	m,
		float	max_dist = -42
	)

Return values:

Distance

field d, such that d[c] is the Manhattan distance (in meters) from cell c to an obstacle cell.

Parameters:

max_dist

Distances will be thresholded at this value if it's positive

Definition at line 222 of file geometry.cpp.

boost::optional< double > occupancy_grid_utils::distanceTo	(	ResultPtr	shortest_path_result,
		const Cell &	dest
	)

From result of single-source shortest paths, extract distance to some destination.

Return values:

Distance

if path exists, uninitialized otherwise. In meters, not cells.

Definition at line 92 of file shortest_path.cpp.

double occupancy_grid_utils::euclideanDistance	(	const gm::Point &	p1,
		const gm::Point &	p2
	)		[inline]

Definition at line 69 of file grid_overlay.cpp.

gm::Polygon occupancy_grid_utils::expandPolygon	(	const gm::Polygon &	p,
		const double	r
	)		[inline]

Definition at line 96 of file combine_grids.cpp.

void occupancy_grid_utils::exportRosMessages

(

)

Definition at line 78 of file boost_python_exports.cpp.

void occupancy_grid_utils::exportSTL

(

)

Definition at line 70 of file boost_python_exports.cpp.

boost::optional< Path > occupancy_grid_utils::extractPath	(	ResultPtr	shortest_path_result,
		const Cell &	dest
	)

Extract a path from the result of single-source shortest paths.

Return values:

path	If path exists, vector of cells where the source is first and dest is last; if not, uninitialized

Definition at line 102 of file shortest_path.cpp.

template<class Visitor >

void occupancy_grid_utils::flood_fill	(	const nm::MapMetaData &	info,
		const std::set< Cell > &	start,
		Visitor &	vis
	)

Definition at line 129 of file geometry.cpp.

template<class Visitor >

void occupancy_grid_utils::flood_fill	(	const nm::MapMetaData &	info,
		const Cell &	start,
		Visitor &	vis
	)

Definition at line 170 of file geometry.cpp.

int occupancy_grid_utils::getCell	(	const nav_msgs::OccupancyGrid &	grid,
		const Cell &	c
	)

Definition at line 140 of file boost_python_exports.cpp.

nm::MapMetaData occupancy_grid_utils::getCombinedGridInfo	(	const vector< GridConstPtr > &	grids,
		const double	resolution
	)

Definition at line 182 of file combine_grids.cpp.

GridPtr occupancy_grid_utils::getGrid

(

const OverlayClouds &

overlay

)

Get the current grid. It's fine to modify the returned object.

Definition at line 213 of file grid_overlay.cpp.

nm::MapMetaData occupancy_grid_utils::gridInfo

(

const OverlayClouds &

overlay

)

Definition at line 232 of file grid_overlay.cpp.

gm::Polygon occupancy_grid_utils::gridPolygon

(

const nm::MapMetaData &

info

)

Definition at line 66 of file coordinate_conversions.cpp.

geometry_msgs::Polygon occupancy_grid_utils::gridPolygon

(

const nav_msgs::MapMetaData &

info

)

Return polygon corresponding to grid bounds.

geometry_msgs::Pose occupancy_grid_utils::identityPose

(

)

[inline]

Definition at line 49 of file file.h.

Cell occupancy_grid_utils::indexCell	(	const nav_msgs::MapMetaData &	info,
		index_t	ind
	)		[inline]

Returns cell corresponding to index.

Definition at line 130 of file coordinate_conversions.h.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::inflateObstacles	(	const nav_msgs::OccupancyGrid &	g,
		double	r,
		bool	allow_unknown = false
	)

Inflate obstacles in a grid.

Obstacles are cell values that are not 0, unless allow_unknown is true, in which case -1 is not considered an obstacle. If there exist obstacles within radius r meters of a cell, its value is replaced by the max of their values (-1 is considered to be the same as 1 for this). Rounds up when converting from meters to cells

GridPtr occupancy_grid_utils::inflateObstacles	(	const nm::OccupancyGrid &	g,
		const double	r,
		const bool	allow_unknown
	)

Definition at line 233 of file shortest_path.cpp.

set<Cell> occupancy_grid_utils::intersectingCells	(	const nm::MapMetaData &	info,
		const nm::MapMetaData &	info2,
		const Cell &	cell2
	)

Definition at line 121 of file combine_grids.cpp.

nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::loadGrid	(	const std::string &	fname,
		double	resolution = 1.0,
		const geometry_msgs::Pose &	origin = identityPose()
	)

Load an occ grid from an image file.

Parameters:

fname	Filename
resolution	in m/cell
origin	Lower-left corner of image (only 2d-components are used)

Pixel values are considered occupied if they're above DEFAULT_OCC_THRESHOLD, free if below DEFAULT_FREE_THRESHOLD, unknown otherwise

nm::OccupancyGrid::Ptr occupancy_grid_utils::loadGrid	(	const std::string &	fname,
		const double	resolution,
		const gm::Pose &	origin_pose
	)

Definition at line 155 of file file.cpp.

nm::OccupancyGrid::Ptr occupancy_grid_utils::loadGrid1

(

const string &

fname

)

Definition at line 145 of file boost_python_exports.cpp.

nm::OccupancyGrid::Ptr occupancy_grid_utils::loadGrid2	(	const string &	fname,
		const double	resolution
	)

Definition at line 150 of file boost_python_exports.cpp.

nm::OccupancyGrid::Ptr occupancy_grid_utils::loadGrid3	(	const string &	fname,
		const double	res,
		const gm::Pose &	p
	)

Definition at line 155 of file boost_python_exports.cpp.

void occupancy_grid_utils::loadMapFromFile	(	nav_msgs::GetMap::Response *	resp,
		const char *	fname,
		double	res,
		bool	negate,
		double	occ_th,
		double	free_th,
		double *	origin
	)

Definition at line 71 of file file.cpp.

double occupancy_grid_utils::manhattanHeuristic	(	const Cell &	c1,
		const Cell &	c2
	)		[inline]

Definition at line 317 of file shortest_path.cpp.

tf::Transform occupancy_grid_utils::mapToWorld

(

const nav_msgs::MapMetaData &

info

)

[inline]

Definition at line 138 of file coordinate_conversions.h.

double occupancy_grid_utils::maxX

(

const nm::MapMetaData &

info

)

Definition at line 154 of file combine_grids.cpp.

double occupancy_grid_utils::maxY

(

const nm::MapMetaData &

info

)

Definition at line 166 of file combine_grids.cpp.

double occupancy_grid_utils::minX

(

const nm::MapMetaData &

info

)

Definition at line 148 of file combine_grids.cpp.

double occupancy_grid_utils::minY

(

const nm::MapMetaData &

info

)

Definition at line 160 of file combine_grids.cpp.

bool occupancy_grid_utils::myGt	(	const signed char	x,
		const signed char	y
	)		[inline]

Definition at line 219 of file shortest_path.cpp.

bool occupancy_grid_utils::operator<	(	const QueueItem &	i1,
		const QueueItem &	i2
	)

Definition at line 137 of file shortest_path.cpp.

std::ostream& occupancy_grid_utils::operator<<	(	std::ostream &	str,
		const Cell &	c
	)		[inline]

Definition at line 189 of file coordinate_conversions.h.

Cell occupancy_grid_utils::point32Cell	(	const nm::MapMetaData &	info,
		const gm::Point32 &	p
	)		[inline]

Definition at line 68 of file combine_grids.cpp.

Cell occupancy_grid_utils::pointCell	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		[inline]

Returns cell corresponding to a point.

The z coordinate of the point is ignored.

Definition at line 152 of file coordinate_conversions.h.

index_t occupancy_grid_utils::pointIndex	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		[inline]

Returns index of a point.

Exceptions:

CellOutOfBoundsException

if point isn't within grid bounds

Ignores z coordinate of point

Definition at line 161 of file coordinate_conversions.h.

gm::Point occupancy_grid_utils::rayEndPoint	(	const gm::Point &	p0,
		const double	theta,
		const double	d
	)

Definition at line 83 of file ray_tracer.cpp.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const Cell &	c1,
		const Cell &	c2
	)

Definition at line 22 of file ray_tracer.cpp.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2,
		bool	project_target_onto_grid = false,
		bool	project_source_onto_grid = false
	)

Returns an iterator range over the cells on the line segment between two points (inclusive).

Parameters:

project_target_onto_grid	If true, p2 may be off the grid, in which case the ray stops right before falling off the grid
project_source_onto_grid	If true, p1 may be off the grid, in which case the ray starts at the point where it enters the grid

Exceptions:

PointOutOfBoundsException	if p1 is off grid and project_source_onto_grid is false
PointOutOfBoundsException	if p2 is off grid and project_target_onto_grid is false

Return values:

range

models Forward range with reference type const Cell&, i.e., it's a pair of iterators that you can use in for loops, std::for_each, etc.

RayTraceIterRange occupancy_grid_utils::rayTrace	(	const nm::MapMetaData &	info,
		const gm::Point &	p1,
		const gm::Point &	p2,
		bool	project_onto_grid,
		bool	project_source_onto_grid
	)

Definition at line 43 of file ray_tracer.cpp.

optional<Cell> occupancy_grid_utils::rayTraceOntoGrid	(	const nm::MapMetaData &	info,
		const Cell &	c1,
		const Cell &	c2
	)

Definition at line 33 of file ray_tracer.cpp.

void occupancy_grid_utils::removeCloud	(	OverlayClouds *	overlay,
		LocalizedCloud::ConstPtr	cloud
	)

Effectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay.

Definition at line 206 of file grid_overlay.cpp.

void occupancy_grid_utils::resetCounts

(

OverlayClouds *

overlay

)

Definition at line 226 of file grid_overlay.cpp.

void occupancy_grid_utils::setCell	(	nav_msgs::OccupancyGrid &	grid,
		const Cell &	c,
		const int	x
	)

Definition at line 135 of file boost_python_exports.cpp.

boost::optional<AStarResult> occupancy_grid_utils::shortestPath	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

A* search that returns distance in cells. Deprecated; use shortestPathAStar instead.using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.

Returns:

If a path is not found, an uninitialized optional. Else, the path and the cost. Currently, though, the path is not returned, just the cost.

optional<AStarResult> occupancy_grid_utils::shortestPath	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

Definition at line 403 of file shortest_path.cpp.

boost::optional<AStarResult> occupancy_grid_utils::shortestPathAStar	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

A* search using Manhattan distance cost and heuristic, with only horizontal and/// vertical neighbors.

Returns:

If a path is not found, an uninitialized optional. Else, the path and the cost (meters). Currently, though, the path is not returned, just the cost.

optional<AStarResult> occupancy_grid_utils::shortestPathAStar	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const Cell &	dest
	)

Definition at line 323 of file shortest_path.cpp.

ResultPtr occupancy_grid_utils::shortestPathResultFromMessage

(

const NavigationFunction &

msg

)

Convert a shortest path result from a ros message.

Definition at line 468 of file shortest_path.cpp.

NavigationFunction occupancy_grid_utils::shortestPathResultToMessage

(

ResultPtr

res

)

Convert a shortest path result to a ros message.

Definition at line 503 of file shortest_path.cpp.

int8_t occupancy_grid_utils::sign

(

const coord_t

x

)

[inline]

Definition at line 12 of file ray_trace_iterator.h.

sensor_msgs::LaserScan::Ptr occupancy_grid_utils::simulateRangeScan	(	const nav_msgs::OccupancyGrid &	grid,
		const geometry_msgs::Pose &	sensor_pose,
		const sensor_msgs::LaserScan &	scanner_info,
		bool	unknown_cells_are_obstacles = false
	)

Simulate a planar laser range scan.

Parameters:

grid	Occupancy grid
sensor_pose	Assumed to lie on the grid and point along the grid
scanner_info	Only the angle_{min,max,increment} and range_max fields of this are used.
unknown_cells_are_obstacles	If true, rays that hit unknown space are considered to have hit an obstacle rather than being max-range

Return values:

Simulated

laser range scan from the given pose on the grid

sm::LaserScan::Ptr occupancy_grid_utils::simulateRangeScan	(	const nm::OccupancyGrid &	grid,
		const gm::Pose &	sensor_pose,
		const sm::LaserScan &	scanner_info,
		const bool	unknown_obstacles
	)

Definition at line 92 of file ray_tracer.cpp.

sm::LaserScan::Ptr occupancy_grid_utils::simulateRangeScan3	(	const nm::OccupancyGrid &	grid,
		const gm::Pose &	sensor_pose,
		const sm::LaserScan &	scanner_info
	)

Definition at line 162 of file boost_python_exports.cpp.

sm::LaserScan::Ptr occupancy_grid_utils::simulateRangeScan4	(	const nm::OccupancyGrid &	grid,
		const gm::Pose &	sensor_pose,
		const sm::LaserScan &	scanner_info,
		const bool	unknown_obstacles
	)

Definition at line 169 of file boost_python_exports.cpp.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		bool	manhattan = false
	)

Single source Dijkstra's algorithm.

Return values:

Structure

from which paths can be extracted or distances computed

Parameters:

manhattan

If false, Euclidean

Each cell is connected to its horizontal and vertical neighbors, with cost 1, and diagonal neighbors with cost sqrt(2). Only cells with value UNOCCUPIED are considered.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	src,
		const TerminationCondition &	term,
		bool	manhattan = false
	)

Single source Dijkstra's algorithm.

Return values:

Structure

from which paths can be extracted or distances computed

Parameters:

term	allows stopping early when a distance bound is reached or when a a set of goal cells have been found
manhattan	If false, Euclidean

Each cell is connected to its horizontal and vertical neighbors, with cost 1, and diagonal neighbors with cost sqrt(2). Only cells with value UNOCCUPIED are considered.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const bool	manhattan
	)

Definition at line 143 of file shortest_path.cpp.

ResultPtr occupancy_grid_utils::singleSourceShortestPaths	(	const nm::OccupancyGrid &	g,
		const Cell &	src,
		const TerminationCondition &	t,
		const bool	manhattan
	)

Definition at line 149 of file shortest_path.cpp.

ResultPtr occupancy_grid_utils::sssp1	(	const nav_msgs::OccupancyGrid &	g,
		const Cell &	start,
		const double	max_dist
	)

Definition at line 187 of file boost_python_exports.cpp.

double occupancy_grid_utils::ssspDistance	(	ResultPtr	res,
		const Cell &	dest
	)

Definition at line 194 of file boost_python_exports.cpp.

template<typename Pred >

std::set<Cell> occupancy_grid_utils::tileCells	(	const nm::MapMetaData &	info,
		const float	d,
		const Pred &	pred
	)

Definition at line 47 of file geometry.hpp.

template<typename Pred >

std::set<Cell> occupancy_grid_utils::tileCells	(	const nav_msgs::MapMetaData &	info,
		float	d,
		const Pred &	p
	)

Return values:

Locally

maximal set of cells which are at least d apart in Euclidean distance, and all of which satisfy pred

Template Parameters:

pred	Defines operator(), a boolean predicate on Cell objects

gm::Pose occupancy_grid_utils::transformPose	(	const tf::Pose	trans,
		const gm::Pose	p
	)

Definition at line 172 of file combine_grids.cpp.

gm::Point occupancy_grid_utils::transformPt	(	const tf::Pose &	trans,
		const gm::Point32 &	p
	)		[inline]

Definition at line 61 of file grid_overlay.cpp.

void occupancy_grid_utils::verifyDataSize

(

const nm::OccupancyGrid &

g

)

Definition at line 85 of file coordinate_conversions.cpp.

void occupancy_grid_utils::verifyDataSize

(

const nav_msgs::OccupancyGrid &

g

)

Verify that data vector has the right size, throw DataSizeException otherwise.

bool occupancy_grid_utils::withinBounds	(	const nav_msgs::MapMetaData &	info,
		const geometry_msgs::Point &	p
	)		[inline]

Check if a point is on the grid.

Definition at line 196 of file coordinate_conversions.h.

bool occupancy_grid_utils::withinBounds	(	const nav_msgs::MapMetaData &	info,
		const Cell &	c
	)		[inline]

Check if a cell is on the grid.

Definition at line 202 of file coordinate_conversions.h.

bool occupancy_grid_utils::withinBoundsCell	(	const nm::MapMetaData &	info,
		const Cell &	c
	)

Definition at line 176 of file boost_python_exports.cpp.

bool occupancy_grid_utils::withinBoundsPoint	(	const nm::MapMetaData &	info,
		const gm::Point &	p
	)

Definition at line 182 of file boost_python_exports.cpp.

tf::Transform occupancy_grid_utils::worldToMap

(

const nav_msgs::MapMetaData &

info

)

[inline]

Definition at line 146 of file coordinate_conversions.h.

---

Variable Documentation

const double occupancy_grid_utils::DEFAULT_FREE_THRESHOLD = 0.196

Definition at line 58 of file file.h.

const double occupancy_grid_utils::DEFAULT_MAX_DISTANCE = 10.0

Default max_distance for OverlayClouds.

Definition at line 66 of file ray_tracer.h.

const double occupancy_grid_utils::DEFAULT_MIN_PASS_THROUGH = 2

Default min_pass_through for OverlayClouds.

Definition at line 69 of file ray_tracer.h.

const double occupancy_grid_utils::DEFAULT_OCC_THRESHOLD = 0.65

Definition at line 57 of file file.h.

const double occupancy_grid_utils::DEFAULT_OCCUPANCY_THRESHOLD = 0.1

Default occupancy threshold for OverlayClouds.

Definition at line 63 of file ray_tracer.h.

const int8_t occupancy_grid_utils::OCCUPIED = 100

Definition at line 75 of file coordinate_conversions.h.

const int8_t occupancy_grid_utils::UNKNOWN = 255

Definition at line 76 of file coordinate_conversions.h.

const int8_t occupancy_grid_utils::UNOCCUPIED = 0

Definition at line 74 of file coordinate_conversions.h.