mitre_fast_layered_map::OutlierRemoval Class Reference

#include <filters.hpp>

Inheritance diagram for mitre_fast_layered_map::OutlierRemoval:

Public Member Functions
virtual bool	configure ()
bool	IsOutlierPoint (grid_map::GridMap &, const grid_map::Index &)
	Algorithm to determine if an occupied cell should be considered an outlier. More...
	OutlierRemoval ()
virtual bool	update (const grid_map::GridMap &_mapIn, grid_map::GridMap &_mapOut)
virtual	~OutlierRemoval ()
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
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

Find outlier cells that are unlikely to be actual obstacles due to their neighborhood having no other obstacles

Definition at line 55 of file filters.hpp.

Constructor & Destructor Documentation

mitre_fast_layered_map::OutlierRemoval::OutlierRemoval

(

)

Definition at line 15 of file outlier_removal.cpp.

mitre_fast_layered_map::OutlierRemoval::~OutlierRemoval ( )

virtual

Definition at line 19 of file outlier_removal.cpp.

Member Function Documentation

bool mitre_fast_layered_map::OutlierRemoval::configure ( )

virtual

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

Definition at line 23 of file outlier_removal.cpp.

bool mitre_fast_layered_map::OutlierRemoval::IsOutlierPoint	(	grid_map::GridMap &	_map,
		const grid_map::Index &	_index
	)

Algorithm to determine if an occupied cell should be considered an outlier.

grid_map::Index index(x, y);
if(IsOutlierPoint(gridMap, index))
{
    // Do stuff
}

Checks all cells surrounding a supposed occupied cell If any of the surrounding cells are occupied then we believe this one If not, then we will clear it ASSUMPTION: We will use the same layer here that was passed in as a parameter

Parameters

_map	[in] The grid map that stores the data
_index	[in] The index within the grid map that we are checking

Returns

True if considered an outlier point, false if not

Definition at line 79 of file outlier_removal.cpp.

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

virtual

Attempts to remove outliers from the TODO: Integrate with prior readings to get a more trustworthy solution

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

Definition at line 41 of file outlier_removal.cpp.

Member Data Documentation

std::string mitre_fast_layered_map::OutlierRemoval::layer_

private

Layer of grid map to perform outlier removal on.

Definition at line 78 of file filters.hpp.

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

• filters.hpp
• outlier_removal.cpp