cartographer::mapping::Grid2D Class Reference

#include <grid_2d.h>

Inheritance diagram for cartographer::mapping::Grid2D:

Public Member Functions
virtual std::unique_ptr< Grid2D >	ComputeCroppedGrid () const =0
void	ComputeCroppedLimits (Eigen::Array2i *const offset, CellLimits *const limits) const
virtual bool	DrawToSubmapTexture (proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const =0
void	FinishUpdate ()
float	GetCorrespondenceCost (const Eigen::Array2i &cell_index) const
float	GetMaxCorrespondenceCost () const
float	GetMinCorrespondenceCost () const
	Grid2D (const MapLimits &limits, float min_correspondence_cost, float max_correspondence_cost)
	Grid2D (const proto::Grid2D &proto)
virtual void	GrowLimits (const Eigen::Vector2f &point)
bool	IsKnown (const Eigen::Array2i &cell_index) const
const MapLimits &	limits () const
virtual proto::Grid2D	ToProto () const

Protected Member Functions
const std::vector< uint16 > &	correspondence_cost_cells () const
const Eigen::AlignedBox2i &	known_cells_box () const
std::vector< uint16 > *	mutable_correspondence_cost_cells ()
Eigen::AlignedBox2i *	mutable_known_cells_box ()
std::vector< int > *	mutable_update_indices ()
int	ToFlatIndex (const Eigen::Array2i &cell_index) const
const std::vector< int > &	update_indices () const

Private Attributes
std::vector< uint16 >	correspondence_cost_cells_
Eigen::AlignedBox2i	known_cells_box_
MapLimits	limits_
float	max_correspondence_cost_
float	min_correspondence_cost_
std::vector< int >	update_indices_

Detailed Description

Definition at line 34 of file grid_2d.h.

Constructor & Destructor Documentation

Grid2D() [1/2]

cartographer::mapping::Grid2D::Grid2D ( const MapLimits &  limits, float  min_correspondence_cost, float  max_correspondence_cost  )

explicit

Definition at line 36 of file grid_2d.cc.

Grid2D() [2/2]

cartographer::mapping::Grid2D::Grid2D ( const proto::Grid2D &  proto )

explicit

Definition at line 47 of file grid_2d.cc.

Member Function Documentation

ComputeCroppedGrid()

virtual std::unique_ptr<Grid2D> cartographer::mapping::Grid2D::ComputeCroppedGrid ( ) const

pure virtual

Implemented in cartographer::mapping::ProbabilityGrid.

ComputeCroppedLimits()

void cartographer::mapping::Grid2D::ComputeCroppedLimits	(	Eigen::Array2i *const	offset,
		CellLimits *const	limits
	)		const

Definition at line 101 of file grid_2d.cc.

correspondence_cost_cells()

const std::vector<uint16>& cartographer::mapping::Grid2D::correspondence_cost_cells ( ) const

inlineprotected

Definition at line 76 of file grid_2d.h.

DrawToSubmapTexture()

virtual bool cartographer::mapping::Grid2D::DrawToSubmapTexture ( proto::SubmapQuery::Response::SubmapTexture *const  texture, transform::Rigid3d  local_pose  ) const

pure virtual

Implemented in cartographer::mapping::ProbabilityGrid.

FinishUpdate()

void cartographer::mapping::Grid2D::FinishUpdate

(

)

Definition at line 76 of file grid_2d.cc.

GetCorrespondenceCost()

float cartographer::mapping::Grid2D::GetCorrespondenceCost

(

const Eigen::Array2i &

cell_index

)

const

Definition at line 86 of file grid_2d.cc.

GetMaxCorrespondenceCost()

float cartographer::mapping::Grid2D::GetMaxCorrespondenceCost ( ) const

inline

Definition at line 52 of file grid_2d.h.

GetMinCorrespondenceCost()

float cartographer::mapping::Grid2D::GetMinCorrespondenceCost ( ) const

inline

Definition at line 49 of file grid_2d.h.

GrowLimits()

void cartographer::mapping::Grid2D::GrowLimits ( const Eigen::Vector2f &  point )

virtual

Definition at line 116 of file grid_2d.cc.

IsKnown()

bool cartographer::mapping::Grid2D::IsKnown

(

const Eigen::Array2i &

cell_index

)

const

Definition at line 93 of file grid_2d.cc.

known_cells_box()

const Eigen::AlignedBox2i& cartographer::mapping::Grid2D::known_cells_box ( ) const

inlineprotected

Definition at line 80 of file grid_2d.h.

limits()

const MapLimits& cartographer::mapping::Grid2D::limits ( ) const

inline

Definition at line 41 of file grid_2d.h.

mutable_correspondence_cost_cells()

std::vector<uint16>* cartographer::mapping::Grid2D::mutable_correspondence_cost_cells ( )

inlineprotected

Definition at line 84 of file grid_2d.h.

mutable_known_cells_box()

Eigen::AlignedBox2i* cartographer::mapping::Grid2D::mutable_known_cells_box ( )

inlineprotected

Definition at line 88 of file grid_2d.h.

mutable_update_indices()

std::vector<int>* cartographer::mapping::Grid2D::mutable_update_indices ( )

inlineprotected

Definition at line 87 of file grid_2d.h.

ToFlatIndex()

int cartographer::mapping::Grid2D::ToFlatIndex ( const Eigen::Array2i &  cell_index ) const

protected

Definition at line 168 of file grid_2d.cc.

ToProto()

proto::Grid2D cartographer::mapping::Grid2D::ToProto ( ) const

virtual

Reimplemented in cartographer::mapping::ProbabilityGrid.

Definition at line 147 of file grid_2d.cc.

update_indices()

const std::vector<int>& cartographer::mapping::Grid2D::update_indices ( ) const

inlineprotected

Definition at line 79 of file grid_2d.h.

Member Data Documentation

correspondence_cost_cells_

std::vector<uint16> cartographer::mapping::Grid2D::correspondence_cost_cells_

private

Definition at line 95 of file grid_2d.h.

known_cells_box_

Eigen::AlignedBox2i cartographer::mapping::Grid2D::known_cells_box_

private

Definition at line 101 of file grid_2d.h.

limits_

MapLimits cartographer::mapping::Grid2D::limits_

private

Definition at line 94 of file grid_2d.h.

max_correspondence_cost_

float cartographer::mapping::Grid2D::max_correspondence_cost_

private

Definition at line 97 of file grid_2d.h.

min_correspondence_cost_

float cartographer::mapping::Grid2D::min_correspondence_cost_

private

Definition at line 96 of file grid_2d.h.

update_indices_

std::vector<int> cartographer::mapping::Grid2D::update_indices_

private

Definition at line 98 of file grid_2d.h.

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

• grid_2d.h
• grid_2d.cc