Class OccGrid

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public mrpt::serialization::CSerializable

Class Documentation

class OccGrid : public mrpt::serialization::CSerializable

Extends MRPT’s occupancy grid with super-resolution likelihood field.

Read and update API

InsertionParameters insertionParameters_
void insertObservation(const mrpt::obs::CObservation2DRangeScan &obs, const mrpt::math::TPose2D &robotPose)
inline const mrpt::maps::COccupancyGridMap2D &grid() const

Likelihood API

LikelihoodParameters likelihoodParameters_
static constexpr float CACHE_MISS_VALUE = std::numeric_limits<float>::min()

For use in likelihoodCacheGrid_

void resetLikelihoodCache()

Invalidates all cached likelihood values (normally users do not need to call this)

Grid size API

void setSize(const mrpt::math::TPoint2Df &minCorner, const mrpt::math::TPoint2Df &maxCorner, float resolution, float occupancyValue = 0.5f)

Change the size of gridmap, erasing all its previous contents.

Parameters:

  • minCorner – The (x,y) coordinates of left-bottom grid corner.

  • maxCorner – The (x,y) coordinates of right-top grid corner.

  • resolution – The new size of square cells [meters]

  • occupancyValue – The occupancy value of cells, tipically 0.5.

void resizeGrid(const mrpt::math::TPoint2Df &minCorner, const mrpt::math::TPoint2Df &maxCorner, float newCellsOccupancy = 0.5f) noexcept

Change the size of gridmap, maintaining previous contents.

See also

setSize

Parameters:

  • minCorner – The (x,y) coordinates of left-bottom grid corner.

  • maxCorner – The (x,y) coordinates of right-top grid corner.

  • newCellsOccupancyValue – Occupancy of new cells, tipically 0.5.

Public Functions

OccGrid()
~OccGrid() = default
struct InsertionParameters

Public Functions

InsertionParameters() = default

Public Members

float maxDistanceInsertion = 50.0

The largest distance at which cells will be updated [m]

float maxOccupancyUpdateCertainty = {0.65f}

A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)

float maxFreenessUpdateCertainty = {.0f}

A value in the range [0.5,1] for updating a free cell. (default=0 means use the same than maxOccupancyUpdateCertainty)

float maxFreenessInvalidRanges = {.0f}

Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). (default=0 means same than maxOccupancyUpdateCertainty)

bool considerInvalidRangesAsFreeSpace = {true}

If set to true (default), invalid range values (no echo rays) as consider as free space until “maxOccupancyUpdateCertainty”, but ONLY when the previous and next rays are also an invalid ray.

uint16_t decimation = {1}

Specify the decimation of the range scan (default=1 : take all the range values!)

bool wideningBeamsWithDistance = {false}

Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)

struct LikelihoodParameters

Public Functions

LikelihoodParameters() = default

Public Members

double superResolutionFactor = 4