Occupancy grid mapping. More...

#include <mapping.hpp>

Public Member Functions
	OccupancyMapper (const mat &Tbs)
	Constructor. More...

bool	updateMap (GridMap &grid, const sensor_msgs::LaserScan::ConstPtr &scan, const vec &pose)
	Update the occupancy grid map. More...

Private Member Functions
void	lineDiag (GridMap &grid, int x0, int y0, int x1, int y1) const
	Bresenham's algorithm for drawing lines at +/- 45 deg. More...

void	lineHigh (GridMap &grid, int x0, int y0, int x1, int y1) const
	Bresenham's algorithm for drawing lines upward. More...

void	lineLow (GridMap &grid, int x0, int y0, int x1, int y1) const
	Bresenham's algorithm for drawing lines downward. More...

void	rayTrace (GridMap &grid, int x0, int y0, int x1, int y1) const
	Bresenham's line algorithm on occupancy map. More...

void	updateCell (GridMap &grid, int x, int y, double log) const
	Update grid cell probability of occupancy. More...

Private Attributes
double	log_odds_free_

double	log_odds_occ_

double	log_odds_prior_

double	prior_

double	prob_free_

double	prob_occ_

mat	Tbs_

Detailed Description

Occupancy grid mapping.

Definition at line 52 of file mapping.hpp.

Constructor & Destructor Documentation

◆ OccupancyMapper()

ergodic_exploration::OccupancyMapper::OccupancyMapper ( const mat & Tbs )

Constructor.

Parameters

Tbs	- transformation from base link to frame of laser scanner

Definition at line 66 of file mapping.cpp.

Member Function Documentation

◆ lineDiag()

void ergodic_exploration::OccupancyMapper::lineDiag	(	GridMap &	grid,
		int	x0,
		int	y0,
		int	x1,
		int	y1
	)		const

private

Bresenham's algorithm for drawing lines at +/- 45 deg.

Parameters

grid[out]	- current map
x0	- line starting x position
y0	- line starting y position
x1	- line ending x position
y1	- line ending y position

x is the jth column and u is the ith row in the grid

Definition at line 321 of file mapping.cpp.

◆ lineHigh()

void ergodic_exploration::OccupancyMapper::lineHigh	(	GridMap &	grid,
		int	x0,
		int	y0,
		int	x1,
		int	y1
	)		const

private

Bresenham's algorithm for drawing lines upward.

Parameters

grid[out]	- current map
x0	- line starting x position
y0	- line starting y position
x1	- line ending x position
y1	- line ending y position

x is the jth column and u is the ith row in the grid

Definition at line 283 of file mapping.cpp.

◆ lineLow()

void ergodic_exploration::OccupancyMapper::lineLow	(	GridMap &	grid,
		int	x0,
		int	y0,
		int	x1,
		int	y1
	)		const

private

Bresenham's algorithm for drawing lines downward.

Parameters

grid[out]	- current map
x0	- line starting x position
y0	- line starting y position
x1	- line ending x position
y1	- line ending y position

x is the jth column and u is the ith row in the grid

Definition at line 245 of file mapping.cpp.

◆ rayTrace()

void ergodic_exploration::OccupancyMapper::rayTrace	(	GridMap &	grid,
		int	x0,
		int	y0,
		int	x1,
		int	y1
	)		const

private

Bresenham's line algorithm on occupancy map.

Parameters

grid[out]	- current map
x0	- line starting x position
y0	- line starting y position
x1	- line ending x position
y1	- line ending y position

Ray tracing is used to find the grid cells in free space. Where x is the jth column and u is the ith row in the grid.

Definition at line 130 of file mapping.cpp.

◆ updateCell()

void ergodic_exploration::OccupancyMapper::updateCell	(	GridMap &	grid,
		int	x,
		int	y,
		double	log
	)		const

private

Update grid cell probability of occupancy.

Parameters

grid[out]	- current map
x	- grid cell x position
y	- grid cell y position
log	- either log_odds_occ_ or log_odds_free_

x is the jth column and u is the ith row in the grid

Definition at line 341 of file mapping.cpp.

◆ updateMap()

bool ergodic_exploration::OccupancyMapper::updateMap	(	GridMap &	grid,
		const sensor_msgs::LaserScan::ConstPtr &	scan,
		const vec &	pose
	)

Update the occupancy grid map.

Parameters

grid[out]	- current map
scan	- laser scan
pose	- robot pose in map frame

Returns: true if map is updated

Definition at line 77 of file mapping.cpp.

Member Data Documentation

◆ log_odds_free_

double ergodic_exploration::OccupancyMapper::log_odds_free_

private

Definition at line 132 of file mapping.hpp.

◆ log_odds_occ_

double ergodic_exploration::OccupancyMapper::log_odds_occ_

private

Definition at line 131 of file mapping.hpp.

◆ log_odds_prior_

double ergodic_exploration::OccupancyMapper::log_odds_prior_

private

Definition at line 130 of file mapping.hpp.

◆ prior_

double ergodic_exploration::OccupancyMapper::prior_

private

Definition at line 129 of file mapping.hpp.

◆ prob_free_

double ergodic_exploration::OccupancyMapper::prob_free_

private

Definition at line 129 of file mapping.hpp.

◆ prob_occ_

double ergodic_exploration::OccupancyMapper::prob_occ_

private

Definition at line 129 of file mapping.hpp.

◆ Tbs_

mat ergodic_exploration::OccupancyMapper::Tbs_

private

Definition at line 128 of file mapping.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyMapper()

Member Function Documentation

◆ lineDiag()

◆ lineHigh()

◆ lineLow()

◆ rayTrace()

◆ updateCell()

◆ updateMap()

Member Data Documentation

◆ log_odds_free_

◆ log_odds_occ_

◆ log_odds_prior_

◆ prior_

◆ prob_free_

◆ prob_occ_

◆ Tbs_