Occupancy Grid class for general use. More...

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Inheritance diagram for fawkes::OccupancyGrid:

Public Member Functions
	OccupancyGrid (int width, int height, int cell_width=5, int cell_height=5)
	Constructs an empty occupancy grid. More...

virtual	~OccupancyGrid ()
	Destructor. More...

int	get_cell_width ()
	Get the cell width (in cm) More...

int	get_cell_height ()
	Get the cell height (in cm) More...

int	get_width ()
	Get the width of the grid. More...

int	get_height ()
	Get the height of the grid. More...

void	set_cell_width (int cell_width)
	Resets the cell width (in cm) More...

void	set_cell_height (int cell_height)
	Resets the cell height (in cm) More...

void	set_width (int width)
	Resets the width of the grid and constructs a new empty grid. More...

void	set_height (int height)
	Resets the height of the grid and constructs a new empty grid. More...

virtual void	set_prob (int x, int y, Probability prob)
	Reset the occupancy probability of a cell. More...

void	fill (Probability prob)
	Resets all occupancy probabilities. More...

Probability	get_prob (int x, int y)
	Get the occupancy probability of a cell. More...

Probability &	operator() (const int x, const int y)
	Get the occupancy probability of a cell. More...

void	init_grid ()
	Init a new empty grid with the predefined parameters *‍/. More...

Public Attributes
std::vector< std::vector< Probability > >	occupancy_probs_
	The occupancy probability of the cells in a 2D array. More...

Protected Attributes
int	cell_width_
	Cell width in cm. More...

int	cell_height_
	Cell height in cm. More...

int	width_
	Width of the grid in # cells. More...

int	height_
	Height of the grid in # cells. More...

Detailed Description

Occupancy Grid class for general use.

Many derivated classes exist, which are usually used instead of this general class. Note: the coord system is assumed to map x onto width an y onto height, with x being the first coordinate !

Definition at line 35 of file occupancygrid.h.

Constructor & Destructor Documentation

◆ OccupancyGrid()

fawkes::OccupancyGrid::OccupancyGrid	(	int	width,
		int	height,
		int	cell_width = `5`,
		int	cell_height = `5`
	)

Constructs an empty occupancy grid.

Parameters

width	the width of the grid in # of cells
height	the height of the cells in # of cells
cell_width	the cell width in cm
cell_height	the cell height in cm

Definition at line 41 of file occupancygrid.cpp.

References cell_height_, cell_width_, height_, init_grid(), and width_.

◆ ~OccupancyGrid()

fawkes::OccupancyGrid::~OccupancyGrid ( )

virtual

Destructor.

Definition at line 52 of file occupancygrid.cpp.

References occupancy_probs_.

Member Function Documentation

◆ fill()

void fawkes::OccupancyGrid::fill ( Probability prob )

Resets all occupancy probabilities.

Parameters

prob	the occupancy probability the grid will become filled with

Definition at line 147 of file occupancygrid.cpp.

References height_, fawkes::isProb(), occupancy_probs_, and width_.

Referenced by init_grid().

◆ get_cell_height()

int fawkes::OccupancyGrid::get_cell_height ( )

Get the cell height (in cm)

Get the cell height.

Returns: the height of the cells in cm

Definition at line 70 of file occupancygrid.cpp.

References cell_height_.

Referenced by fawkes::EscapePotentialFieldDriveModule::update(), and fawkes::EscapePotentialFieldOmniDriveModule::update().

◆ get_cell_width()

int fawkes::OccupancyGrid::get_cell_width ( )

Get the cell width (in cm)

Get the cell width.

Returns: the cell width in cm

Definition at line 61 of file occupancygrid.cpp.

References cell_width_.

Referenced by fawkes::EscapePotentialFieldDriveModule::update(), and fawkes::EscapePotentialFieldOmniDriveModule::update().

◆ get_height()

int fawkes::OccupancyGrid::get_height ( )

Get the height of the grid.

Returns: the height of the grid in # cells

Definition at line 88 of file occupancygrid.cpp.

References height_.

Referenced by fawkes::AStarColli::AStarColli(), fawkes::EscapePotentialFieldDriveModule::update(), and fawkes::EscapePotentialFieldOmniDriveModule::update().

◆ get_prob()

Probability fawkes::OccupancyGrid::get_prob	(	int	x,
		int	y
	)

Get the occupancy probability of a cell.

Parameters

x	the x-position of the cell
y	the y-position of the cell

Returns: the occupancy probability of cell (x,y)

Definition at line 164 of file occupancygrid.cpp.

References height_, occupancy_probs_, and width_.

Referenced by fawkes::AStarColli::remove_target_from_obstacle(), fawkes::EscapePotentialFieldDriveModule::update(), fawkes::EscapePotentialFieldOmniDriveModule::update(), and fawkes::Search::update().

◆ get_width()

int fawkes::OccupancyGrid::get_width ( )

Get the width of the grid.

Returns: the width of the grid in # of cells

Definition at line 79 of file occupancygrid.cpp.

References width_.

Referenced by fawkes::AStarColli::AStarColli(), fawkes::EscapePotentialFieldDriveModule::update(), and fawkes::EscapePotentialFieldOmniDriveModule::update().

◆ init_grid()

void fawkes::OccupancyGrid::init_grid ( )

Init a new empty grid with the predefined parameters *‍/.

Init a new empty grid with the predefined parameters.

Definition at line 186 of file occupancygrid.cpp.

References fill(), height_, occupancy_probs_, and width_.

Referenced by fawkes::LaserOccupancyGrid::LaserOccupancyGrid(), OccupancyGrid(), set_height(), and set_width().

◆ operator()()

Probability & fawkes::OccupancyGrid::operator()	(	const int	x,
		const int	y
	)

Get the occupancy probability of a cell.

Operator (), get occupancy probability of a cell.

Parameters

x	the x-position of the cell
y	the y-position of the cell

Returns: the occupancy probability of cell (x,y)

Definition at line 179 of file occupancygrid.cpp.

References occupancy_probs_.

◆ set_cell_height()

void fawkes::OccupancyGrid::set_cell_height ( int height )

Resets the cell height (in cm)

Resets the cell height.

Parameters

height the height of the cells in cm

Definition at line 106 of file occupancygrid.cpp.

References cell_height_.

◆ set_cell_width()

void fawkes::OccupancyGrid::set_cell_width ( int width )

Resets the cell width (in cm)

Resets the cell width.

Parameters

width the width of the cells in cm

Definition at line 97 of file occupancygrid.cpp.

References cell_width_.

◆ set_height()

void fawkes::OccupancyGrid::set_height ( int height )

Resets the height of the grid and constructs a new empty grid.

Parameters

height the height of the grid in # of cells

Definition at line 125 of file occupancygrid.cpp.

References height_, and init_grid().

◆ set_prob()

void fawkes::OccupancyGrid::set_prob	(	int	x,
		int	y,
		Probability	prob
	)

virtual

Reset the occupancy probability of a cell.

Parameters

x	the x-position of the cell
y	the y-position of the cell
prob	the occupancy probability of cell (x,y)

Definition at line 137 of file occupancygrid.cpp.

References height_, fawkes::isProb(), occupancy_probs_, and width_.

◆ set_width()

void fawkes::OccupancyGrid::set_width ( int width )

Resets the width of the grid and constructs a new empty grid.

Parameters

width the cell width in cm

Definition at line 115 of file occupancygrid.cpp.

References init_grid(), and width_.

Member Data Documentation

◆ cell_height_

int fawkes::OccupancyGrid::cell_height_

protected

Cell height in cm.

Definition at line 85 of file occupancygrid.h.

Referenced by get_cell_height(), OccupancyGrid(), fawkes::LaserOccupancyGrid::set_base_offset(), and set_cell_height().

◆ cell_width_

int fawkes::OccupancyGrid::cell_width_

protected

Cell width in cm.

Definition at line 84 of file occupancygrid.h.

Referenced by get_cell_width(), OccupancyGrid(), fawkes::LaserOccupancyGrid::set_base_offset(), and set_cell_width().

◆ height_

int fawkes::OccupancyGrid::height_

protected

Height of the grid in # cells.

Definition at line 87 of file occupancygrid.h.

Referenced by fill(), get_height(), get_prob(), init_grid(), OccupancyGrid(), set_height(), set_prob(), and fawkes::LaserOccupancyGrid::update_occ_grid().

◆ occupancy_probs_

std::vector<std::vector<Probability> > fawkes::OccupancyGrid::occupancy_probs_

The occupancy probability of the cells in a 2D array.

Definition at line 81 of file occupancygrid.h.

Referenced by fill(), get_prob(), init_grid(), operator()(), set_prob(), fawkes::LaserOccupancyGrid::update_occ_grid(), and ~OccupancyGrid().

◆ width_

int fawkes::OccupancyGrid::width_

protected

Width of the grid in # cells.

Definition at line 86 of file occupancygrid.h.

Referenced by fill(), get_prob(), get_width(), init_grid(), OccupancyGrid(), set_prob(), set_width(), and fawkes::LaserOccupancyGrid::update_occ_grid().

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

src/plugins/colli/utils/occupancygrid/occupancygrid.h
src/plugins/colli/utils/occupancygrid/occupancygrid.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyGrid()

◆ ~OccupancyGrid()

Member Function Documentation

◆ fill()

◆ get_cell_height()

◆ get_cell_width()

◆ get_height()

◆ get_prob()

◆ get_width()

◆ init_grid()

◆ operator()()

◆ set_cell_height()

◆ set_cell_width()

◆ set_height()

◆ set_prob()

◆ set_width()

Member Data Documentation

◆ cell_height_

◆ cell_width_

◆ height_

◆ occupancy_probs_

◆ width_