mitre_fast_layered_map::Inflation Class Reference

#include <filters.hpp>

Inheritance diagram for mitre_fast_layered_map::Inflation:

Public Member Functions
virtual bool	configure ()
	Inflation ()
virtual bool	update (const grid_map::GridMap &_mapIn, grid_map::GridMap &_mapOut)
virtual	~Inflation ()
Public Member Functions inherited from filters::FilterBase< grid_map::GridMap >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())
bool	configure (XmlRpc::XmlRpcValue &config)
	FilterBase ()
const std::string &	getName ()
std::string	getType ()
virtual	~FilterBase ()

Private Attributes
double	inflationSideLen_m_
	Determines length of side of square to inflate around an obstacle. More...
std::string	layer_
	Layer of grid map to perform outlier removal on. More...

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< grid_map::GridMap >
bool	getParam (const std::string &name, std::string &value)
bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value)
bool	getParam (const std::string &name, double &value)
bool	getParam (const std::string &name, std::vector< double > &value)
bool	getParam (const std::string &name, unsigned int &value)
bool	getParam (const std::string &name, int &value)
bool	getParam (const std::string &name, std::vector< std::string > &value)
bool	getParam (const std::string &name, bool &value)
bool	loadConfiguration (XmlRpc::XmlRpcValue &config)
Protected Attributes inherited from filters::FilterBase< grid_map::GridMap >
bool	configured_
std::string	filter_name_
std::string	filter_type_
string_map_t	params_

Detailed Description

General approach to using ros filter will look like the code below. You can use configuration files to determine which filters are run and in which order. NOTE: FILTER ORDER MATTERS - For example, outlier removal could remove an obstacle, which will then affect how the ray tracing is calculated

grid_map::GridMap gridMap;
filters::FilterChain<grid_map::GridMap> filterChain_("grid_map::GridMap");
filterChain.configure():
// Update grid map
filterChain.update(gridMap, gridMap);

Definition at line 35 of file filters.hpp.

Constructor & Destructor Documentation

mitre_fast_layered_map::Inflation::Inflation

(

)

Definition at line 15 of file inflation.cpp.

mitre_fast_layered_map::Inflation::~Inflation ( )

virtual

Definition at line 19 of file inflation.cpp.

Member Function Documentation

bool mitre_fast_layered_map::Inflation::configure ( )

virtual

Implements filters::FilterBase< grid_map::GridMap >.

Definition at line 23 of file inflation.cpp.

bool mitre_fast_layered_map::Inflation::update ( const grid_map::GridMap &  _mapIn, grid_map::GridMap &  _mapOut  )

virtual

Implements filters::FilterBase< grid_map::GridMap >.

Definition at line 42 of file inflation.cpp.

Member Data Documentation

double mitre_fast_layered_map::Inflation::inflationSideLen_m_

private

Determines length of side of square to inflate around an obstacle.

Definition at line 48 of file filters.hpp.

std::string mitre_fast_layered_map::Inflation::layer_

private

Layer of grid map to perform outlier removal on.

Definition at line 47 of file filters.hpp.

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

• filters.hpp
• inflation.cpp