Create a OccupancyMapParams. OccupancyMapParams are used used to define occupancy maps and to provide helpers to change from metrical to pixel frames. Maps are squared. More...

#include <occupancymapparams.h>

Public Member Functions
	OccupancyMapParams (int size, float metersPerPixel, const Position2D &mapCenter, float obstacleThreshold=0.25f)

void	initOriginOffset (const Position2D &mapCenter)
	Set the origin offset accordingly to the given desired metrical position of the central pixel. More...

Point2Di	getPixelFromPose (const Pose2D &pose) const
	Get the Point2Di in the map corresponding to the given metrical pose. More...

Point2Di	getPixelFromPosition (const Position2D &position) const
	Get the Point2Di in the map corresponding to the given metrical position. More...

Pose2D	getPoseFromPixel (const Pose2Di &pixel) const
	Get the Pose2D corresponding to the given pixel pose in the map. More...

Position2D	getPositionFromPixel (const Point2Di &pixel) const
	Get the Pose2D corresponding to the given pixel pose in the map. More...

Point2Di	getDeltaPixelFromDeltaPosition (const Position2D &position) const
	Get the Point2Di representing the pixel difference corresponding to the given metrical difference. More...

float	getObstacleProbabilityThreshold () const
	Get the maximum pixel value of an obstacle in the map. More...

Static Public Member Functions
static Point2Di	getPixelFromOffsetAndScale (const Math::Pose2D &pose, float metersPerPixel, const Math::Position2D &originOffset)

Public Attributes
int	size
	Pixel size of the associated squared occupancy map. More...

float	metersPerPixel
	Factor representing the metrical size of each pixel. More...

Position2D	originOffset
	Metrical coordinate of the (0, 0) pixel. More...

float	obstacleProbabilityThreshold
	Maximum pixel value of an obstacle in the map More...

Detailed Description

Create a OccupancyMapParams. OccupancyMapParams are used used to define occupancy maps and to provide helpers to change from metrical to pixel frames. Maps are squared.

Definition at line 67 of file occupancymapparams.h.

Constructor & Destructor Documentation

AL::Math::OccupancyMapParams::OccupancyMapParams	(	int	size,
		float	metersPerPixel,
		const Position2D &	mapCenter,
		float	obstacleThreshold = `0.25f`
	)

explicit

Member Function Documentation

Point2Di AL::Math::OccupancyMapParams::getDeltaPixelFromDeltaPosition ( const Position2D & position ) const

Get the Point2Di representing the pixel difference corresponding to the given metrical difference.

Parameters

position Metrical delta.

Returns: Point2Di of the corresponding pixel difference.

float AL::Math::OccupancyMapParams::getObstacleProbabilityThreshold ( ) const

Get the maximum pixel value of an obstacle in the map.

static Point2Di AL::Math::OccupancyMapParams::getPixelFromOffsetAndScale	(	const Math::Pose2D &	pose,
		float	metersPerPixel,
		const Math::Position2D &	originOffset
	)

inlinestatic

Definition at line 78 of file occupancymapparams.h.

Point2Di AL::Math::OccupancyMapParams::getPixelFromPose ( const Pose2D & pose ) const

Get the Point2Di in the map corresponding to the given metrical pose.

Parameters

pose	desired metrical Pose2D.

Returns: Point2Di of the associated pixel.

Point2Di AL::Math::OccupancyMapParams::getPixelFromPosition ( const Position2D & position ) const

Get the Point2Di in the map corresponding to the given metrical position.

Parameters

position desired metrical Position2D.

Returns: Point2Di of the associated pixel.

Pose2D AL::Math::OccupancyMapParams::getPoseFromPixel ( const Pose2Di & pixel ) const

Get the Pose2D corresponding to the given pixel pose in the map.

Parameters

pixel desired pixel pose.

Returns: Pose2D of the associated pose.

Position2D AL::Math::OccupancyMapParams::getPositionFromPixel ( const Point2Di & pixel ) const

Get the Pose2D corresponding to the given pixel pose in the map.

Parameters

pixel desired pixel pose.

Returns: Position2D of the associated position.

void AL::Math::OccupancyMapParams::initOriginOffset ( const Position2D & mapCenter )

Set the origin offset accordingly to the given desired metrical position of the central pixel.

Parameters

mapCenter desired metrical position of the central pixel.

Member Data Documentation

float AL::Math::OccupancyMapParams::metersPerPixel

Factor representing the metrical size of each pixel.

Definition at line 135 of file occupancymapparams.h.

float AL::Math::OccupancyMapParams::obstacleProbabilityThreshold

Maximum pixel value of an obstacle in the map

Definition at line 139 of file occupancymapparams.h.

Position2D AL::Math::OccupancyMapParams::originOffset

Metrical coordinate of the (0, 0) pixel.

Definition at line 137 of file occupancymapparams.h.

int AL::Math::OccupancyMapParams::size

Pixel size of the associated squared occupancy map.

Definition at line 133 of file occupancymapparams.h.

The documentation for this struct was generated from the following file:

/home/opennao/work/release-2.8/lib/libalmath/almath/types/occupancymapparams.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation