mapping.hpp

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#ifndef MAPPING_HPP
#define MAPPING_HPP
 
#include <armadillo>
 
#include <ergodic_exploration/grid.hpp>
#include <sensor_msgs/LaserScan.h>
 
namespace ergodic_exploration
{
using arma::mat;
using arma::vec;
 
class OccupancyMapper
{
public:
  OccupancyMapper(const mat& Tbs);
 
  bool updateMap(GridMap& grid, const sensor_msgs::LaserScan::ConstPtr& scan,
                 const vec& pose);
 
private:
  void rayTrace(GridMap& grid, int x0, int y0, int x1, int y1) const;
 
  void lineLow(GridMap& grid, int x0, int y0, int x1, int y1) const;
 
  void lineHigh(GridMap& grid, int x0, int y0, int x1, int y1) const;
 
  void lineDiag(GridMap& grid, int x0, int y0, int x1, int y1) const;
 
  void updateCell(GridMap& grid, int x, int y, double log) const;
 
private:
  mat Tbs_;                              // transform base link to laser scanner
  double prior_, prob_occ_, prob_free_;  // probabilities for cell states
  double log_odds_prior_;                // log odds prior
  double log_odds_occ_;                  // log odds occupied
  double log_odds_free_;                 // log odds free
};
}  // namespace ergodic_exploration
#endif