Template Class BaseOccupancyGrid2

Inheritance Relationships

Base Type

Class Documentation

template<typename Derived>
class BaseOccupancyGrid2 : public beluga::BaseLinearGrid2<Derived>

Occupancy 2D grid base type.

When instantiated, it satisfies Beluga named requirements: OccupancyGrid2d.

Template Parameters:

Derived – Concrete occupancy grid type. It must define Derived::origin(), Derived::width(), Derived::height(), Derived::resolution(), Derived::data_at(std::size_t), Derived::index_at(int, int), Derived::data(), and Derived::value_traits() as described in Beluga named requirements: OccupancyGrid2d.

Public Types

enum class Frame : std::uint8_t

Coordinate frames.

Values:

enumerator kLocal
enumerator kGlobal

Public Functions

inline bool free_at(std::size_t index) const

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters:

index – Grid cell index.

inline bool free_at(int xi, int yi) const

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters:

  • xi – Grid cell x-axis coordinate.

  • yi – Grid cell y-axis coordinate.

inline bool free_at(const Eigen::Vector2i &pi) const

Checks if cell is free.

Note cells not included in the grid are non-free too.

Parameters:

pi – Grid cell coordinates.

inline bool free_near(double x, double y) const

Checks if nearest cell is free.

Note cells not included in the grid are non-free too.

Parameters:

  • x – Plane x-axis coordinate.

  • y – Plane y-axis coordinate.

inline bool free_near(const Eigen::Vector2d &p) const

Checks if nearest cell is free.

Note cells not included in the grid are non-free too.

Parameters:

p – Plane coordinates.

inline auto coordinates_at(std::size_t index, Frame frame) const

Compute plane coordinates given grid cell coordinates.

Parameters:

  • index – Grid cell index.

  • frame – Plane coordinate frame.

Returns:

Plane coordinates in the corresponding frame.

template<class Range>
inline auto coordinates_for(Range &&cells, Frame frame) const

Compute plane coordinates for a range of grid cells.

Parameters:

  • cells – Range of grid cell indices or coordinates.

  • frame – Plane coordinate frame.

Returns:

Range of plane coordinates in the corresponding frame.

inline auto free_cells() const

Retrieves range of free grid cell indices.

inline auto obstacle_mask() const

Retrieves a mask over occupied cells in the grid.

inline auto unknown_mask() const

Retrieves a mask over unknown cells in the grid.