grid_map Namespace Reference

Namespaces
	bicubic
	bicubic_conv
	internal

Classes
class	BufferRegion
class	CircleIterator
struct	Clamp
union	Color
class	EllipseIterator
class	GridMap
class	GridMapIterator
class	LineIterator
class	Polygon
class	PolygonIterator
class	SlidingWindowIterator
class	SpiralIterator
class	SubmapGeometry
class	SubmapIterator

Typedefs
using	DataType = Matrix::Scalar
using	FunctionValueMatrix = Eigen::Matrix4d
using	Index = Eigen::Array2i
using	Length = Eigen::Array2d
using	Matrix = Eigen::MatrixXf
using	Position = Eigen::Vector2d
using	Position3 = Eigen::Vector3d
using	Size = Eigen::Array2i
using	Time = uint64_t
using	Vector = Eigen::Vector2d
using	Vector3 = Eigen::Vector3d

Enumerations
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }

Functions
template<typename M1 , typename M2 >
void	assertEqual (const M1 &A, const M2 &B, std::string const &message="")
template<typename M1 >
void	assertFinite (const M1 &A, std::string const &="")
template<typename M1 , typename M2 , typename T >
void	assertNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
unsigned int	bindIndexToRange (unsigned int idReq, unsigned int nElem)
void	boundIndexToRange (Index &index, const Size &bufferSize)
void	boundIndexToRange (int &index, const int &bufferSize)
void	boundPositionToRange (Position &position, const Length &mapLength, const Position &mapPosition)
bool	checkIfIndexInRange (const Index &index, const Size &bufferSize)
bool	checkIfPositionWithinMap (const Position &position, const Length &mapLength, const Position &mapPosition)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3i &colorVector)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3f &colorVector)
bool	colorValueToVector (const float &colorValue, Eigen::Vector3f &colorVector)
bool	colorVectorToValue (const Eigen::Vector3i &colorVector, unsigned long &colorValue)
void	colorVectorToValue (const Eigen::Vector3i &colorVector, float &colorValue)
void	colorVectorToValue (const Eigen::Vector3f &colorVector, float &colorValue)
bool	compareRelative (double a, double b, double percentTolerance, double *percentError=nullptr)
template<typename M1 , typename M2 , typename T >
void	expectNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
Index	getBufferIndexFromIndex (const Index &index, const Size &bufferSize, const Index &bufferStartIndex)
Eigen::Matrix2i	getBufferOrderToMapFrameAlignment ()
bool	getBufferRegionsForSubmap (std::vector< BufferRegion > &submapBufferRegions, const Index &submapIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
Index	getIndexFromBufferIndex (const Index &bufferIndex, const Size &bufferSize, const Index &bufferStartIndex)
Index	getIndexFromLinearIndex (size_t linearIndex, const Size &bufferSize, bool rowMajor=false)
bool	getIndexFromPosition (Index &index, const Position &position, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	getIndexShiftFromPositionShift (Index &indexShift, const Vector &positionShift, const double &resolution)
double	getLayerValue (const Matrix &layerMat, unsigned int rowReq, unsigned int colReq)
double	getLayerValue (const Matrix &layerMat, int rowReq, int colReq)
size_t	getLinearIndexFromIndex (const Index &index, const Size &bufferSize, bool rowMajor=false)
bool	getPositionFromIndex (Position &position, const Index &index, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
void	getPositionOfDataStructureOrigin (const Position &position, const Length &mapLength, Position &positionOfOrigin)
bool	getPositionShiftFromIndexShift (Vector &positionShift, const Index &indexShift, const double &resolution)
bool	getSubmapInformation (Index &submapTopLeftIndex, Size &submapBufferSize, Position &submapPosition, Length &submapLength, Index &requestedIndexInSubmap, const Position &requestedSubmapPosition, const Length &requestedSubmapLength, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
Size	getSubmapSizeFromCornerIndices (const Index &topLeftIndex, const Index &bottomRightIndex, const Size &bufferSize, const Index &bufferStartIndex)
bool	incrementIndex (Index &index, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	incrementIndexForSubmap (Index &submapIndex, Index &index, const Index &submapTopLeftIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
template<int N>
Eigen::Matrix< double, N, N >	randomCovariance ()
Eigen::MatrixXd	randomCovarianceXd (int N)
	TEST (GridMap, CopyConstructor)
	TEST (LineIterator, StartOutsideMap)
	TEST (PositionFromIndex, Simple)
	TEST (SubmapIterator, Simple)
	TEST (GridMap, CopyAssign)
	TEST (LineIterator, EndOutsideMap)
	TEST (PositionFromIndex, CircularBuffer)
	TEST (GridMap, Move)
	TEST (LineIterator, StartAndEndOutsideMap)
	TEST (IndexFromPosition, Simple)
	TEST (SubmapIterator, CircularBuffer)
	TEST (GridMap, Transform)
	TEST (LineIterator, StartAndEndOutsideMapWithoutIntersectingMap)
	TEST (LineIterator, MovedMap)
	TEST (IndexFromPosition, EdgeCases)
	TEST (GridMap, ClipToMap)
	TEST (IndexFromPosition, CircularBuffer)
	TEST (LineIterator, StartAndEndOutsideMovedMap)
	TEST (checkIfPositionWithinMap, Inside)
	TEST (GridMap, ClipToMap2)
	TEST (checkIfPositionWithinMap, Outside)
	TEST (checkIfPositionWithinMap, EdgeCases)
	TEST (SubmapIterator, InterleavedExecutionWithMove)
	TEST (getIndexShiftFromPositionShift, All)
	TEST (getPositionShiftFromIndexShift, All)
	TEST (checkIfIndexInRange, All)
	TEST (boundIndexToRange, All)
	TEST (wrapIndexToRange, All)
	TEST (AddDataFrom, ExtendMapAligned)
	TEST (boundPositionToRange, Simple)
	TEST (AddDataFrom, ExtendMapNotAligned)
	TEST (AddDataFrom, CopyData)
	TEST (boundPositionToRange, Position)
	TEST (ValueAtPosition, NearestNeighbor)
	TEST (ValueAtPosition, LinearInterpolated)
	TEST (getSubmapInformation, Simple)
	TEST (getSubmapInformation, Zero)
	TEST (getSubmapInformation, ExceedingBoundaries)
	TEST (getSubmapInformation, CircularBuffer)
	TEST (getSubmapInformation, Debug1)
	TEST (getSubmapInformation, Debug2)
	TEST (getBufferRegionsForSubmap, Trivial)
	TEST (getBufferRegionsForSubmap, Simple)
	TEST (getBufferRegionsForSubmap, CircularBuffer)
	TEST (checkIncrementIndex, Simple)
	TEST (checkIncrementIndex, CircularBuffer)
	TEST (checkIncrementIndexForSubmap, Simple)
	TEST (checkIncrementIndexForSubmap, CircularBuffer)
	TEST (getIndexFromLinearIndex, Simple)
void	wrapIndexToRange (Index &index, const Size &bufferSize)
void	wrapIndexToRange (int &index, int bufferSize)

Typedef Documentation

DataType

using grid_map::DataType = typedef Matrix::Scalar

Definition at line 17 of file TypeDefs.hpp.

FunctionValueMatrix

using grid_map::FunctionValueMatrix = typedef Eigen::Matrix4d

Definition at line 40 of file CubicInterpolation.hpp.

Index

using grid_map::Index = typedef Eigen::Array2i

Definition at line 22 of file TypeDefs.hpp.

Length

using grid_map::Length = typedef Eigen::Array2d

Definition at line 24 of file TypeDefs.hpp.

Matrix

using grid_map::Matrix = typedef Eigen::MatrixXf

Definition at line 16 of file TypeDefs.hpp.

Position

using grid_map::Position = typedef Eigen::Vector2d

Definition at line 18 of file TypeDefs.hpp.

Position3

using grid_map::Position3 = typedef Eigen::Vector3d

Definition at line 20 of file TypeDefs.hpp.

Size

using grid_map::Size = typedef Eigen::Array2i

Definition at line 23 of file TypeDefs.hpp.

Time

using grid_map::Time = typedef uint64_t

Definition at line 25 of file TypeDefs.hpp.

Vector

using grid_map::Vector = typedef Eigen::Vector2d

Definition at line 19 of file TypeDefs.hpp.

Vector3

using grid_map::Vector3 = typedef Eigen::Vector3d

Definition at line 21 of file TypeDefs.hpp.

Enumeration Type Documentation

InterpolationMethods

enum grid_map::InterpolationMethods

strong

Enumerator
INTER_NEAREST
INTER_LINEAR
INTER_CUBIC_CONVOLUTION
INTER_CUBIC

Definition at line 39 of file TypeDefs.hpp.

Function Documentation

assertEqual()

template<typename M1 , typename M2 >

void grid_map::assertEqual	(	const M1 &	A,
		const M2 &	B,
		std::string const &	message = ""
	)

Definition at line 33 of file gtest_eigen.hpp.

assertFinite()

template<typename M1 >

void grid_map::assertFinite	(	const M1 &	A,
		std::string const &	= ""
	)

Definition at line 99 of file gtest_eigen.hpp.

assertNear()

template<typename M1 , typename M2 , typename T >

void grid_map::assertNear	(	const M1 &	A,
		const M2 &	B,
		T	tolerance,
		std::string const &	message = ""
	)

Definition at line 54 of file gtest_eigen.hpp.

bindIndexToRange()

unsigned int grid_map::bindIndexToRange	(	unsigned int	idReq,
		unsigned int	nElem
	)

Takes the id requested, performs checks and returns an id that it is within the specified bounds.

Parameters

[in]	idReq	- input index .
[in]	nElem	- number of elements in the container

Returns

index that is within [0, nElem-1].

Definition at line 15 of file CubicInterpolation.cpp.

boundIndexToRange() [1/2]

void grid_map::boundIndexToRange	(	Index &	index,
		const Size &	bufferSize
	)

Bounds an index that runs out of the range of the buffer. This means that an index that overflows is stopped at the last valid index. This is the 2d version of boundIndexToRange(int&, const int&).

Parameters

Definition at line 211 of file GridMapMath.cpp.

boundIndexToRange() [2/2]

void grid_map::boundIndexToRange	(	int &	index,
		const int &	bufferSize
	)

Bounds an index that runs out of the range of the buffer. This means that an index that overflows is stopped at the last valid index.

Parameters

Definition at line 218 of file GridMapMath.cpp.

boundPositionToRange()

void grid_map::boundPositionToRange	(	Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition
	)

Bound (cuts off) the position to lie inside the map. This means that an index that overflows is stopped at the last valid index.

Parameters

Definition at line 255 of file GridMapMath.cpp.

checkIfIndexInRange()

bool grid_map::checkIfIndexInRange	(	const Index &	index,
		const Size &	bufferSize
	)

Checks if index is within range of the buffer.

Parameters

[in]	index	to check.
[in]	bufferSize	the size of the buffer.

Returns

true if index is within, and false if index is outside of the buffer.

Definition at line 206 of file GridMapMath.cpp.

checkIfPositionWithinMap()

bool grid_map::checkIfPositionWithinMap	(	const Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition
	)

Checks if position is within the map boundaries.

Parameters

[in]	position	the position which is to be checked.
[in]	mapLength	the length of the map.
[in]	mapPosition	the position of the map.

Returns

true if position is within map, false otherwise.

Definition at line 162 of file GridMapMath.cpp.

colorValueToVector() [1/3]

bool grid_map::colorValueToVector	(	const unsigned long &	colorValue,
		Eigen::Vector3i &	colorVector
	)

Transforms an int color value (concatenated RGB values) to an int color vector (RGB from 0-255).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0-255.

Returns

true if successful.

Definition at line 556 of file GridMapMath.cpp.

colorValueToVector() [2/3]

bool grid_map::colorValueToVector	(	const unsigned long &	colorValue,
		Eigen::Vector3f &	colorVector
	)

Transforms an int color value (concatenated RGB values) to a float color vector (RGB from 0.0-1.0).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0.0-1.0.

Returns

true if successful.

Definition at line 564 of file GridMapMath.cpp.

colorValueToVector() [3/3]

bool grid_map::colorValueToVector	(	const float &	colorValue,
		Eigen::Vector3f &	colorVector
	)

Transforms a float color value (concatenated 3 single-byte value) to a float color vector (RGB from 0.0-1.0).

Parameters

[in]	colorValue	the concatenated RGB color value.
[out]	colorVector	the color vector in RGB from 0.0-1.0.

Returns

true if successful.

Definition at line 572 of file GridMapMath.cpp.

colorVectorToValue() [1/3]

bool grid_map::colorVectorToValue	(	const Eigen::Vector3i &	colorVector,
		unsigned long &	colorValue
	)

Transforms an int color vector (RGB from 0-255) to a concatenated RGB int color.

Parameters

[in]	colorVector	the color vector in RGB from 0-255.
[out]	colorValue	the concatenated RGB color value.

Returns

true if successful.

Definition at line 580 of file GridMapMath.cpp.

colorVectorToValue() [2/3]

void grid_map::colorVectorToValue	(	const Eigen::Vector3i &	colorVector,
		float &	colorValue
	)

Transforms a color vector (RGB from 0-255) to a concatenated 3 single-byte float value.

Parameters

[in]	colorVector	the color vector in RGB from 0-255.
[out]	colorValue	the concatenated RGB color value.

Definition at line 586 of file GridMapMath.cpp.

colorVectorToValue() [3/3]

void grid_map::colorVectorToValue	(	const Eigen::Vector3f &	colorVector,
		float &	colorValue
	)

Transforms a color vector (RGB from 0.0-1.0) to a concatenated 3 single-byte float value.

Parameters

[in]	colorVector	the color vector in RGB from 0.0-1.0.
[out]	colorValue	the concatenated RGB color value.

Definition at line 593 of file GridMapMath.cpp.

compareRelative()

bool grid_map::compareRelative ( double  a, double  b, double  percentTolerance, double *  percentError = nullptr  )

inline

Definition at line 111 of file gtest_eigen.hpp.

expectNear()

template<typename M1 , typename M2 , typename T >

void grid_map::expectNear	(	const M1 &	A,
		const M2 &	B,
		T	tolerance,
		std::string const &	message = ""
	)

Definition at line 78 of file gtest_eigen.hpp.

getBufferIndexFromIndex()

Index grid_map::getBufferIndexFromIndex	(	const Index &	index,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Retrieve the index of the buffer from a unwrapped index (reverse from function above).

Parameters

index	the unwrapped index.
bufferSize	the map buffer size.
bufferStartIndex	the map buffer start index.

Returns

the buffer index.

Definition at line 529 of file GridMapMath.cpp.

getBufferOrderToMapFrameAlignment()

Eigen::Matrix2i grid_map::getBufferOrderToMapFrameAlignment

(

)

Provides the alignment transformation from the buffer order (outer/inner storage) and the map frame (x/y-coordinate).

Returns

the alignment transformation.

Definition at line 282 of file GridMapMath.cpp.

getBufferRegionsForSubmap()

bool grid_map::getBufferRegionsForSubmap	(	std::vector< BufferRegion > &	submapBufferRegions,
		const Index &	submapIndex,
		const Size &	submapBufferSize,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Computes the regions in the circular buffer that make up the data for a requested submap.

Parameters

[out]	submapBufferRegions	the list of buffer regions that make up the submap.
[in]	submapIndex	the index (top-left) for the requested submap.
[in]	submapBufferSize	the size of the requested submap.
[in]	bufferSize	the buffer size of the map.
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if requested submap is not fully contained in the map.

Definition at line 351 of file GridMapMath.cpp.

getIndexFromBufferIndex()

Index grid_map::getIndexFromBufferIndex	(	const Index &	bufferIndex,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Retrieve the index as unwrapped index, i.e., as the corresponding index of a grid map with no circular buffer offset.

Parameters

bufferIndex	the index in the circular buffer.
bufferSize	the map buffer size.
bufferStartIndex	the map buffer start index.

Returns

the unwrapped index.

Definition at line 518 of file GridMapMath.cpp.

getIndexFromLinearIndex()

Index grid_map::getIndexFromLinearIndex	(	size_t	linearIndex,
		const Size &	bufferSize,
		bool	rowMajor = false
	)

Returns the regular index (2-dim.) corresponding to the linear index (1-dim.) for a given buffer size.

Parameters

[in]	linearIndex	the he linear 1d index.
[in]	bufferSize	the map buffer size.
[in]	(optional)	rowMajor if the linear index is generated for row-major format.

Returns

the regular 2d index.

Definition at line 548 of file GridMapMath.cpp.

getIndexFromPosition()

bool grid_map::getIndexFromPosition	(	Index &	index,
		const Position &	position,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Gets the index of the cell which contains a position in the map frame.

Parameters

[out]	index	of the cell.
[in]	position	the position in the map frame.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the size of the buffer (optional).
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if position outside of map.

Definition at line 147 of file GridMapMath.cpp.

getIndexShiftFromPositionShift()

bool grid_map::getIndexShiftFromPositionShift	(	Index &	indexShift,
		const Vector &	positionShift,
		const double &	resolution
	)

Computes how many cells/indices the map is moved based on a position shift in the grid map frame. Use this function if you are moving the grid map and want to ensure that the cells match before and after.

Parameters

[out]	indexShift	the corresponding shift of the indices.
[in]	positionShift	the desired position shift.
[in]	resolution	the resolution of the map.

Returns

true if successful.

Definition at line 183 of file GridMapMath.cpp.

getLayerValue() [1/2]

double grid_map::getLayerValue	(	const Matrix &	layerMat,
		unsigned int	rowReq,
		unsigned int	colReq
	)

Definition at line 23 of file CubicInterpolation.cpp.

getLayerValue() [2/2]

double grid_map::getLayerValue	(	const Matrix &	layerMat,
		int	rowReq,
		int	colReq
	)

Extract the value of the specific layer at the row and column requested. If row and column are out of bounds they will be bound to range.

Parameters

[in]	layerMat	- matrix of the layer from where the data is extracted
[in]	rowReq	- row requested
[in]	colReq	- column requested

Returns

- value of the layer at rowReq and colReq

getLinearIndexFromIndex()

size_t grid_map::getLinearIndexFromIndex	(	const Index &	index,
		const Size &	bufferSize,
		bool	rowMajor = false
	)

Returns the linear index (1-dim.) corresponding to the regular index (2-dim.) for either row- or column-major format. Note: Eigen is defaulting to column-major format.

Parameters

[in]	index	the regular 2d index.
[in]	bufferSize	the map buffer size.
[in]	(optional)	rowMajor if the linear index is generated for row-major format.

Returns

the linear 1d index.

Definition at line 540 of file GridMapMath.cpp.

getPositionFromIndex()

bool grid_map::getPositionFromIndex	(	Position &	position,
		const Index &	index,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Gets the position of a cell specified by its index in the map frame.

Parameters

[out]	position	the position of the center of the cell in the map frame.
[in]	index	of the cell.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the size of the buffer (optional).
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful, false if index not within range of buffer.

Definition at line 130 of file GridMapMath.cpp.

getPositionOfDataStructureOrigin()

void grid_map::getPositionOfDataStructureOrigin	(	const Position &	position,
		const Length &	mapLength,
		Position &	positionOfOrigin
	)

Gets the position of the data structure origin.

Parameters

[in]	position	the position of the map.
[in]	mapLength	the map length.
[out]	positionOfOrigin	the position of the data structure origin.

Definition at line 174 of file GridMapMath.cpp.

getPositionShiftFromIndexShift()

bool grid_map::getPositionShiftFromIndexShift	(	Vector &	positionShift,
		const Index &	indexShift,
		const double &	resolution
	)

Computes the corresponding position shift from a index shift. Use this function if you are moving the grid map and want to ensure that the cells match before and after.

Parameters

[out]	positionShift	the corresponding shift in position in the grid map frame.
[in]	indexShift	the desired shift of the indices.
[in]	resolution	the resolution of the map.

Returns

true if successful.

Definition at line 198 of file GridMapMath.cpp.

getSubmapInformation()

bool grid_map::getSubmapInformation	(	Index &	submapTopLeftIndex,
		Size &	submapBufferSize,
		Position &	submapPosition,
		Length &	submapLength,
		Index &	requestedIndexInSubmap,
		const Position &	requestedSubmapPosition,
		const Length &	requestedSubmapLength,
		const Length &	mapLength,
		const Position &	mapPosition,
		const double &	resolution,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Given a map and a desired submap (defined by position and size), this function computes various information about the submap. The returned submap might be smaller than the requested size as it respects the boundaries of the map.

Parameters

[out]	submapTopLeftIndex	the top left index of the returned submap.
[out]	submapBufferSize	the buffer size of the returned submap.
[out]	submapPosition	the position of the submap (center) in the map frame.
[out]	submapLength	the length of the submap.
[out]	requestedIndexInSubmap	the index in the submap that corresponds to the requested position of the submap.
[in]	requestedSubmapPosition	the requested submap position (center) in the map frame.
[in]	requestedSubmapLength	the requested submap length.
[in]	mapLength	the lengths in x and y direction.
[in]	mapPosition	the position of the map.
[in]	resolution	the resolution of the map.
[in]	bufferSize	the buffer size of the map.
[in]	bufferStartIndex	the index of the starting point of the circular buffer (optional).

Returns

true if successful.

Definition at line 287 of file GridMapMath.cpp.

getSubmapSizeFromCornerIndices()

Size grid_map::getSubmapSizeFromCornerIndices	(	const Index &	topLeftIndex,
		const Index &	bottomRightIndex,
		const Size &	bufferSize,
		const Index &	bufferStartIndex
	)

Computes the buffer size of a submap given a top left and a lower right index.

Parameters

topLeftIndex	the top left index in the map.
bottomRightIndex	the bottom right index in the map.

Returns

buffer size for the submap.

Definition at line 343 of file GridMapMath.cpp.

incrementIndex()

bool grid_map::incrementIndex	(	Index &	index,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Increases the index by one to iterate through the map. Increments either to the neighboring index to the right or to the start of the lower row. Returns false if end of iterations are reached.

Parameters

Definition at line 461 of file GridMapMath.cpp.

incrementIndexForSubmap()

bool grid_map::incrementIndexForSubmap	(	Index &	submapIndex,
		Index &	index,
		const Index &	submapTopLeftIndex,
		const Size &	submapBufferSize,
		const Size &	bufferSize,
		const Index &	bufferStartIndex = Index::Zero()
	)

Increases the index by one to iterate through the cells of a submap. Increments either to the neighboring index to the right or to the start of the lower row. Returns false if end of iterations are reached.

Note: This function does not check if submap actually fits to the map. This needs to be checked before separately.

Parameters

Definition at line 485 of file GridMapMath.cpp.

randomCovariance()

template<int N>

Eigen::Matrix<double,N,N> grid_map::randomCovariance

(

)

Definition at line 18 of file gtest_eigen.hpp.

randomCovarianceXd()

Eigen::MatrixXd grid_map::randomCovarianceXd ( int  N )

inline

Definition at line 25 of file gtest_eigen.hpp.

TEST() [1/49]

grid_map::TEST	(	GridMap	,
		CopyConstructor
	)

Definition at line 16 of file GridMapTest.cpp.

TEST() [2/49]

grid_map::TEST	(	LineIterator	,
		StartOutsideMap
	)

Definition at line 17 of file LineIteratorTest.cpp.

TEST() [3/49]

grid_map::TEST	(	PositionFromIndex	,
		Simple
	)

Definition at line 24 of file GridMapMathTest.cpp.

TEST() [4/49]

grid_map::TEST	(	SubmapIterator	,
		Simple
	)

Definition at line 26 of file SubmapIteratorTest.cpp.

TEST() [5/49]

grid_map::TEST	(	GridMap	,
		CopyAssign
	)

Definition at line 33 of file GridMapTest.cpp.

TEST() [6/49]

grid_map::TEST	(	LineIterator	,
		EndOutsideMap
	)

Definition at line 42 of file LineIteratorTest.cpp.

TEST() [7/49]

grid_map::TEST	(	PositionFromIndex	,
		CircularBuffer
	)

Definition at line 51 of file GridMapMathTest.cpp.

TEST() [8/49]

grid_map::TEST	(	GridMap	,
		Move
	)

Definition at line 52 of file GridMapTest.cpp.

TEST() [9/49]

grid_map::TEST	(	LineIterator	,
		StartAndEndOutsideMap
	)

Definition at line 72 of file LineIteratorTest.cpp.

TEST() [10/49]

grid_map::TEST	(	IndexFromPosition	,
		Simple
	)

Definition at line 83 of file GridMapMathTest.cpp.

TEST() [11/49]

grid_map::TEST	(	SubmapIterator	,
		CircularBuffer
	)

Definition at line 88 of file SubmapIteratorTest.cpp.

TEST() [12/49]

grid_map::TEST	(	GridMap	,
		Transform
	)

Definition at line 91 of file GridMapTest.cpp.

TEST() [13/49]

grid_map::TEST	(	LineIterator	,
		StartAndEndOutsideMapWithoutIntersectingMap
	)

Definition at line 100 of file LineIteratorTest.cpp.

TEST() [14/49]

grid_map::TEST	(	LineIterator	,
		MovedMap
	)

Definition at line 108 of file LineIteratorTest.cpp.

TEST() [15/49]

grid_map::TEST	(	IndexFromPosition	,
		EdgeCases
	)

Definition at line 114 of file GridMapMathTest.cpp.

TEST() [16/49]

grid_map::TEST	(	GridMap	,
		ClipToMap
	)

Definition at line 131 of file GridMapTest.cpp.

TEST() [17/49]

grid_map::TEST	(	IndexFromPosition	,
		CircularBuffer
	)

Definition at line 137 of file GridMapMathTest.cpp.

TEST() [18/49]

grid_map::TEST	(	LineIterator	,
		StartAndEndOutsideMovedMap
	)

Definition at line 139 of file LineIteratorTest.cpp.

TEST() [19/49]

grid_map::TEST	(	checkIfPositionWithinMap	,
		Inside
	)

Definition at line 155 of file GridMapMathTest.cpp.

TEST() [20/49]

grid_map::TEST	(	GridMap	,
		ClipToMap2
	)

Definition at line 157 of file GridMapTest.cpp.

TEST() [21/49]

grid_map::TEST	(	checkIfPositionWithinMap	,
		Outside
	)

Definition at line 168 of file GridMapMathTest.cpp.

TEST() [22/49]

grid_map::TEST	(	checkIfPositionWithinMap	,
		EdgeCases
	)

Definition at line 180 of file GridMapMathTest.cpp.

TEST() [23/49]

grid_map::TEST	(	SubmapIterator	,
		InterleavedExecutionWithMove
	)

The submap should contain the same elements as before even after moving the underlying map.

                                                     +----------------------------+
                                                     |                            |
                                                     |                            |
         +----------------------------+              |                            |
         |0  0  0  0  0  0  0  0  0  0|              |      0  0  0  0  0  0  0  0|
         |     +----+                 |              |           +----+           |

Submap |1 1 |1 1| 1 1 1 1 1 1| | 1 1 |1 1| 1 1 1 1| +---—> | | | | | | | |2 2 |2 2| 2 2 2 2 2 2| | 2 2 |2 2| 2 2 2 2| | +-—+ | | +-—+ |

3 3 3 3 3 3 3 3 3 3	Move	3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4 4 4	+------—>	4 4 4 4 4 4 4 4
5 5 5 5 5 5 5 5 5 5		5 5 5 5 5 5 5 5
6 6 6 6 6 6 6 6 6 6		6 6 6 6 6 6 6 6
7 7 7 7 7 7 7 7 7 7		7 7 7 7 7 7 7 7

| | +-------------------------—+

8 8 8 8 8 8 8 8 8 8
9 9 9 9 9 9 9 9 9 9

+-------------------------—+

Definition at line 193 of file SubmapIteratorTest.cpp.

TEST() [24/49]

grid_map::TEST	(	getIndexShiftFromPositionShift	,
		All
	)

Definition at line 247 of file GridMapMathTest.cpp.

TEST() [25/49]

grid_map::TEST	(	getPositionShiftFromIndexShift	,
		All
	)

Definition at line 273 of file GridMapMathTest.cpp.

TEST() [26/49]

grid_map::TEST	(	checkIfIndexInRange	,
		All
	)

Definition at line 291 of file GridMapMathTest.cpp.

TEST() [27/49]

grid_map::TEST	(	boundIndexToRange	,
		All
	)

Definition at line 302 of file GridMapMathTest.cpp.

TEST() [28/49]

grid_map::TEST	(	wrapIndexToRange	,
		All
	)

Definition at line 335 of file GridMapMathTest.cpp.

TEST() [29/49]

grid_map::TEST	(	AddDataFrom	,
		ExtendMapAligned
	)

Definition at line 359 of file GridMapTest.cpp.

TEST() [30/49]

grid_map::TEST	(	boundPositionToRange	,
		Simple
	)

Definition at line 376 of file GridMapMathTest.cpp.

TEST() [31/49]

grid_map::TEST	(	AddDataFrom	,
		ExtendMapNotAligned
	)

Definition at line 386 of file GridMapTest.cpp.

TEST() [32/49]

grid_map::TEST	(	AddDataFrom	,
		CopyData
	)

Definition at line 419 of file GridMapTest.cpp.

TEST() [33/49]

grid_map::TEST	(	boundPositionToRange	,
		Position
	)

Definition at line 432 of file GridMapMathTest.cpp.

TEST() [34/49]

grid_map::TEST	(	ValueAtPosition	,
		NearestNeighbor
	)

Definition at line 448 of file GridMapTest.cpp.

TEST() [35/49]

grid_map::TEST	(	ValueAtPosition	,
		LinearInterpolated
	)

Definition at line 470 of file GridMapTest.cpp.

TEST() [36/49]

grid_map::TEST	(	getSubmapInformation	,
		Simple
	)

Definition at line 488 of file GridMapMathTest.cpp.

TEST() [37/49]

grid_map::TEST	(	getSubmapInformation	,
		Zero
	)

Definition at line 523 of file GridMapMathTest.cpp.

TEST() [38/49]

grid_map::TEST	(	getSubmapInformation	,
		ExceedingBoundaries
	)

Definition at line 559 of file GridMapMathTest.cpp.

TEST() [39/49]

grid_map::TEST	(	getSubmapInformation	,
		CircularBuffer
	)

Definition at line 612 of file GridMapMathTest.cpp.

TEST() [40/49]

grid_map::TEST	(	getSubmapInformation	,
		Debug1
	)

Definition at line 682 of file GridMapMathTest.cpp.

TEST() [41/49]

grid_map::TEST	(	getSubmapInformation	,
		Debug2
	)

Definition at line 711 of file GridMapMathTest.cpp.

TEST() [42/49]

grid_map::TEST	(	getBufferRegionsForSubmap	,
		Trivial
	)

Definition at line 740 of file GridMapMathTest.cpp.

TEST() [43/49]

grid_map::TEST	(	getBufferRegionsForSubmap	,
		Simple
	)

Definition at line 762 of file GridMapMathTest.cpp.

TEST() [44/49]

grid_map::TEST	(	getBufferRegionsForSubmap	,
		CircularBuffer
	)

Definition at line 778 of file GridMapMathTest.cpp.

TEST() [45/49]

grid_map::TEST	(	checkIncrementIndex	,
		Simple
	)

Definition at line 847 of file GridMapMathTest.cpp.

TEST() [46/49]

grid_map::TEST	(	checkIncrementIndex	,
		CircularBuffer
	)

Definition at line 883 of file GridMapMathTest.cpp.

TEST() [47/49]

grid_map::TEST	(	checkIncrementIndexForSubmap	,
		Simple
	)

Definition at line 938 of file GridMapMathTest.cpp.

TEST() [48/49]

grid_map::TEST	(	checkIncrementIndexForSubmap	,
		CircularBuffer
	)

Definition at line 983 of file GridMapMathTest.cpp.

TEST() [49/49]

grid_map::TEST	(	getIndexFromLinearIndex	,
		Simple
	)

Definition at line 1029 of file GridMapMathTest.cpp.

wrapIndexToRange() [1/2]

void grid_map::wrapIndexToRange	(	Index &	index,
		const Size &	bufferSize
	)

Wraps an index that runs out of the range of the buffer back into allowed the region. This means that an index that overflows is reset to zero. This is the 2d version of wrapIndexToRange(int&, const int&).

Parameters

Definition at line 227 of file GridMapMath.cpp.

wrapIndexToRange() [2/2]

void grid_map::wrapIndexToRange	(	int &	index,
		int	bufferSize
	)

Wraps an index that runs out of the range of the buffer back into allowed the region. This means that an index that overflows is reset to zero.

Parameters

Definition at line 234 of file GridMapMath.cpp.