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Public Member Functions |
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| local_grid_map (double sx, double sy, double res, double xo, double yo, double maxr) |
| | Constructor.
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| local_grid_map (int size_i, int size_j) |
| | Constructor for dummy grid objects.
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| ~local_grid_map () |
| | Destructor.
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| local_grid_map (const local_grid_map &f) |
| | Copy constructor.
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local_grid_map & | operator= (const local_grid_map &g) |
| | Assignment operator.
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int | initialize (laserscan &scan) |
| | Initialize grid map = compute lookup table.
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int | is_initialized () |
| | Test if object is initialized.
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void | clear (double p) |
| | Clear all cells to p, clear all other grid cells to 0.
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void | set_name (char *name) |
| | Set grid map name.
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char * | get_name () |
| | Get grid map name.
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void | set_pose (double x, double y, double theta) |
| | Set pose of grid map.
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void | get_pose (double &x, double &y, double &theta) |
| | Get pose of grid map.
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void | integrate_ray (double x, double y, double a, double length) |
| | Integrate ray.
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void | integrate_features (local_feature_map &fmap, int feat_type_id) |
| | Integrate features with type id feat_type_id.
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void | detect_motion_features (int freq, laserscan &scan) |
| | Detect and integrate motion features.
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int | transform_xy_to_ij (double x, double y, double a, int &i, int &j, int &a_i) |
| | Transform meters to indices.
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int | transform_ij_to_xy (int i, int j, double &x, double &y) |
| | Transform indices to meters.
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int | multiply (local_grid_map &g1, local_grid_map &g2) |
| | Multiply cell-wise two grids of equal size.
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void | invert_prob () |
| | Invert probability. Replace p by 1 - p for each cell.
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void | convert_to_density () |
| | Convert grid to a probability density (= normalize it with its sum).
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void | print () |
| | Print grid map.
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void | print_gnuplot () |
| | Draw in gnuplot (works with "... | gnuplot".
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Private Member Functions |
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void | increment_cells_on_ray (int x_i, int y_i, int a_i, double length) |
| | Increment all cells on ray given by x_i, y_i, a_i, length.
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int | compute_lookuptable (laserscan &scan) |
| | Precompute index lookup table.
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int | next_field (float x, float dx) |
| | compute next cell index in lookup table
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Private Attributes |
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char * | name |
| | Grid map name.
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double | timestamp |
| | Timestamp from.
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float | angle_to_index |
| | Unknown Dirk-Schulz-parameter.
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int | size_i |
| | Grid size in x in index (i,j)-units.
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int | size_j |
| | Grid size in y in index (i,j)-units.
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double | size_x |
| | Grid size in x in [m].
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double | size_y |
| | Grid size in y in [m].
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double | x_pos |
| | Grid pose, x coordinate (in case of moving robot).
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double | y_pos |
| | Grid pose, y coordinate (in case of moving robot).
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double | t_pos |
| | Grid pose, theta coordinate (in case of moving robot).
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double | x_origin |
| | True (meter) x-origin of grid in [m] given in (i,j)-frame.
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double | y_origin |
| | True (meter) y-origin of grid in [m] given in (i,j)-frame.
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double | reso_xy |
| | Cartesian grid resolution in [m].
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double | tracker_max_range |
| | Maximal working range in [m] of grid.
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double ** | p |
| | Handle to probabilities-grid.
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int ** | hit |
| | Handle to hit-grid.
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int ** | visit |
| | Handle to visit-grid.
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int | initialized |
| | Flag if grid object is initialized.
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Static Private Attributes |
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static index_table | ray_idx_table |
| | Lookup table with indices along possible rays. Attention: static variable!
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