Classes | Typedefs | Functions
bwi_mapper Namespace Reference

Classes

class  CircleProvider
 Singleton class which provides the mid-point circle algorithm implementation. More...
class  ConnectedComponents
 API for 8-connected connected components algorithm to find critical regions in a map demarcated by obstalces and critical lines Neigbouring critical regions help form the topological graph. Since this algorithm is 8-connected, any demarcating lines should be drawn 4-connected if they are single pixel. More...
class  DirectedDFS
 The directed DFS class. Checks whether 2 points are close inside the map in obstacle space. Uses euclidean distance to goal to guide the search. More...
struct  Edge
class  MapLoader
 Base class for reading a standard ROS map from a YAML file and writing it to an OpenCV Image. More...
class  PathFinder
 Performs a 4-connected dynamic programming search around a given point to find which other points it is connected to in the map. More...
class  Point2d
 A simple class to hold a 2D pixel point along with distance to a reference position. More...
class  Point2dDistanceComp
 A simple class acting as a comparator for Point2d using the reference distance. Useful while using std::sort. More...
class  TopologicalMapper
 Computes the 2 variants of the topological graph using the voronoi approximator. More...
struct  Vertex
class  VoronoiApproximator
 The voronoi approximator API. Inherits MapLoader to directly load a map from file and be able to draw a map. More...
class  VoronoiPoint

Typedefs

typedef boost::adjacency_list
< boost::vecS, boost::vecS,
boost::undirectedS, Vertex,
Edge
Graph
typedef cv::Point2f Point2f

Functions

void drawArrowOnGraph (cv::Mat &image, const Graph &graph, std::pair< size_t, float > arrow, uint32_t map_width, uint32_t map_height, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0)
void drawArrowOnImage (cv::Mat &image, const cv::Point2f &arrow_center, float orientation, const cv::Scalar &color, int size, int thickness)
void drawCircleOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0)
void drawGraph (cv::Mat &image, const Graph &graph, uint32_t orig_x=0, uint32_t orig_y=0, bool put_text=true, bool put_all_edges=true, std::vector< std::pair< size_t, size_t > > specific_edges=std::vector< std::pair< size_t, size_t > >())
 draws the given graph onto an image starting at (orig_x, orig_y)
void drawSquareOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0, int size=30, int thickness=2)
void getAdjacentNodes (size_t v, const Graph &graph, std::vector< size_t > &adjacent_vertices)
size_t getClosestEdgeOnGraphGivenId (const Point2f &point, const Graph &graph, size_t one_graph_id)
size_t getClosestIdOnGraph (const Point2f &point, const Graph &graph, double threshold=0.0)
size_t getClosestIdOnGraphFromEdge (const Point2f &point, const Graph &graph, size_t prev_graph_id)
float getEuclideanDistance (size_t u, size_t v, const Graph &graph)
Point2f getLocationFromGraphId (int idx, const Graph &graph)
float getMagnitude (Point2f v)
float getNodeAngle (size_t u, size_t v, const Graph &graph)
float getShortestPathDistance (size_t start_idx, size_t goal_idx, const Graph &graph)
float getShortestPathWithDistance (size_t start_idx, size_t goal_idx, std::vector< size_t > &path_from_goal, const Graph &graph)
void getVisibleNodes (size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &grid, std::vector< size_t > &visible_vertices, float visibility_range=0.0f)
void inflateMap (double threshold, const nav_msgs::OccupancyGrid &map, nav_msgs::OccupancyGrid &inflated_map)
 A simple utility function that expands the map based on inflation distance in meters.
bool isVisible (size_t u, size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &map)
bool locationsInDirectLineOfSight (const Point2f &pt1, const Point2f &pt2, const nav_msgs::OccupancyGrid map)
float minimumDistanceToLineSegment (Point2f v, Point2f w, Point2f p)
void readGraphFromFile (const std::string &filename, const nav_msgs::MapMetaData &info, Graph &graph)
Point2f toGrid (const Point2f &pt, const nav_msgs::MapMetaData &info)
Point2f toMap (const Point2f &pt, const nav_msgs::MapMetaData &info)
void writeGraphToFile (const std::string &filename, const Graph &graph, const nav_msgs::MapMetaData &info)

Typedef Documentation

typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Vertex, Edge > bwi_mapper::Graph

Definition at line 66 of file graph.h.

typedef cv::Point2f bwi_mapper::Point2f

Definition at line 82 of file point.h.


Function Documentation

void bwi_mapper::drawArrowOnGraph ( cv::Mat &  image,
const Graph &  graph,
std::pair< size_t, float >  arrow,
uint32_t  map_width,
uint32_t  map_height,
cv::Scalar  color = cv::Scalar(0,0,255),
uint32_t  orig_x = 0,
uint32_t  orig_y = 0 
)

Definition at line 163 of file graph.cpp.

void bwi_mapper::drawArrowOnImage ( cv::Mat &  image,
const cv::Point2f &  arrow_center,
float  orientation,
const cv::Scalar &  color,
int  size,
int  thickness 
)

Definition at line 135 of file graph.cpp.

void bwi_mapper::drawCircleOnGraph ( cv::Mat &  image,
const Graph &  graph,
size_t  node,
cv::Scalar  color = cv::Scalar(0,0,255),
uint32_t  orig_x = 0,
uint32_t  orig_y = 0 
)

Definition at line 184 of file graph.cpp.

void bwi_mapper::drawGraph ( cv::Mat &  image,
const Graph &  graph,
uint32_t  orig_x = 0,
uint32_t  orig_y = 0,
bool  put_text = true,
bool  put_all_edges = true,
std::vector< std::pair< size_t, size_t > >  specific_edges = std::vector<std::pair<size_t, size_t> >() 
)

draws the given graph onto an image starting at (orig_x, orig_y)

Definition at line 76 of file graph.cpp.

void bwi_mapper::drawSquareOnGraph ( cv::Mat &  image,
const Graph &  graph,
size_t  node,
cv::Scalar  color = cv::Scalar(0,0,255),
uint32_t  orig_x = 0,
uint32_t  orig_y = 0,
int  size = 30,
int  thickness = 2 
)

Definition at line 192 of file graph.cpp.

void bwi_mapper::getAdjacentNodes ( size_t  v,
const Graph &  graph,
std::vector< size_t > &  adjacent_vertices 
)

Definition at line 431 of file graph.cpp.

size_t bwi_mapper::getClosestEdgeOnGraphGivenId ( const Point2f point,
const Graph &  graph,
size_t  one_graph_id 
)

Definition at line 339 of file graph.cpp.

size_t bwi_mapper::getClosestIdOnGraph ( const Point2f point,
const Graph &  graph,
double  threshold = 0.0 
)

Definition at line 302 of file graph.cpp.

size_t bwi_mapper::getClosestIdOnGraphFromEdge ( const Point2f point,
const Graph &  graph,
size_t  prev_graph_id 
)

Definition at line 323 of file graph.cpp.

float bwi_mapper::getEuclideanDistance ( size_t  u,
size_t  v,
const Graph &  graph 
)

Definition at line 379 of file graph.cpp.

Point2f bwi_mapper::getLocationFromGraphId ( int  idx,
const Graph &  graph 
)

Definition at line 297 of file graph.cpp.

Definition at line 56 of file point_utils.cpp.

float bwi_mapper::getNodeAngle ( size_t  u,
size_t  v,
const Graph &  graph 
)

Definition at line 372 of file graph.cpp.

float bwi_mapper::getShortestPathDistance ( size_t  start_idx,
size_t  goal_idx,
const Graph &  graph 
)

Definition at line 425 of file graph.cpp.

float bwi_mapper::getShortestPathWithDistance ( size_t  start_idx,
size_t  goal_idx,
std::vector< size_t > &  path_from_goal,
const Graph &  graph 
)

Definition at line 385 of file graph.cpp.

void bwi_mapper::getVisibleNodes ( size_t  v,
const Graph &  graph,
const nav_msgs::OccupancyGrid &  grid,
std::vector< size_t > &  visible_vertices,
float  visibility_range = 0.0f 
)

Definition at line 448 of file graph.cpp.

void bwi_mapper::inflateMap ( double  threshold,
const nav_msgs::OccupancyGrid &  map,
nav_msgs::OccupancyGrid &  inflated_map 
)

A simple utility function that expands the map based on inflation distance in meters.

Parameters:
thresholdinflation distance in meters
mapthe map to inflate
inflated_mapthe returned inflated map passed as a reference

Definition at line 46 of file map_inflator.cpp.

bool bwi_mapper::isVisible ( size_t  u,
size_t  v,
const Graph &  graph,
const nav_msgs::OccupancyGrid &  map 
)

Definition at line 365 of file graph.cpp.

bool bwi_mapper::locationsInDirectLineOfSight ( const Point2f pt1,
const Point2f pt2,
const nav_msgs::OccupancyGrid  map 
)

Definition at line 42 of file map_utils.cpp.

Definition at line 42 of file point_utils.cpp.

void bwi_mapper::readGraphFromFile ( const std::string &  filename,
const nav_msgs::MapMetaData &  info,
Graph &  graph 
)

Definition at line 240 of file graph.cpp.

Point2f bwi_mapper::toGrid ( const Point2f pt,
const nav_msgs::MapMetaData &  info 
)

Definition at line 72 of file map_utils.cpp.

Point2f bwi_mapper::toMap ( const Point2f pt,
const nav_msgs::MapMetaData &  info 
)

Definition at line 77 of file map_utils.cpp.

void bwi_mapper::writeGraphToFile ( const std::string &  filename,
const Graph &  graph,
const nav_msgs::MapMetaData &  info 
)

Definition at line 201 of file graph.cpp.



bwi_mapper
Author(s): Piyush Khandelwal
autogenerated on Thu Jun 6 2019 17:57:21