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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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This is an abstract class that implements some common parts of the grid mapping algorithms. More...
#include <occupancyGridMap.h>
Public Member Functions | |
| occupancyGridMap () | |
| Defaulf constructor. | |
| occupancyGridMap (float w, float h, float res, float x, float y) | |
| Constructor with size in meters and related to real coordinates. | |
| virtual | ~occupancyGridMap () |
| Default destructor. | |
| void | clearUnconnect (binMap &vz, int x, int y) const |
| virtual occupancyGridMap * | clone () const =0 |
| clone method | |
| int | countAccessible (const point *p, int numpoints, binMap &accessible) const |
| void | esz (int x, int y, binMap &esz, int dilaterad, int size) const |
| Evaluates the expected safe zone viewed from a given point. | |
| int | frontiers (binMap &frontiers) const |
| Returns a binMap of the frontiers. | |
| int | frontiersIn (const binMap &zone, binMap &frontiers) const |
| Returns a binMap of the frontiers inside the given zone. | |
| void | gateways (const binMap &esz, binMap &gateways) const |
| Looks for gateways in a given zone. | |
| int | getHeight () const |
| returns the height of the grid map | |
| point * | getLine (int x1, int y1, int x2, int y2, int &points) const |
| returns an array of points of size points for a line that joins point (x1,y1) and point x2,y2) | |
| IplImage * | getMapAsImage () const |
| Get the map as a new opencv image. | |
| float | getRealHeight () const |
| returns the height of the grid map | |
| float | getRealWidth () const |
| returns the width of the grid map | |
| float | getResolution () const |
| returns the grid map resolution in meters | |
| virtual float | getValue (int x, int y) const =0 |
| return the occupancy probability of the cell | |
| float | getValue (int x, int y, int range) const |
| return the occupancy probability of the cell | |
| int | getWidth () const |
| returns the width of the grid map | |
| float | getXOrigin () const |
| returns the x real coordinates of pixel(0,0) | |
| float | getYOrigin () const |
| returns the y real coordinates of pixel(0,0) | |
| virtual void | initialize (float w, float h, float res, float x, float y)=0 |
| Initializes with size in meters and related to real coordinates. | |
| bool | isfree (int x, int y) const |
| true if the cell is free | |
| bool | isfree (int x, int y, int rad) const |
| true if all cells in a given square mask of radius rad are free (Totally free) | |
| bool | isfreeD (int x, int y) const |
| true if all cells in a diamond 1px mask of radius rad are free (Totally free) | |
| bool | isfrontier (int x, int y) const |
| true if the cell is frontier | |
| bool | isoccupied (int x, int y) const |
| true if the cell is occupied | |
| bool | isoccupied (int x, int y, int rad) const |
| true if a cell in a given square mask of radius rad is occupied (Partially occupied) | |
| bool | isunknown (int x, int y) const |
| true if the cell is unknown | |
| bool | isunknown (int x, int y, int size) const |
| true if a cell in a given square mask of radius rad is unknown (Partially unknown) | |
| virtual int | loadMapFromFile (const char *file)=0 |
| load a map from disk | |
| void | occupiedCells (binMap &occupied, int dilateRad=1) const |
| Return the occupied cells. | |
| virtual gridMapInterface & | operator= (const gridMapInterface &) |
| assigment operator | |
| virtual void | reset ()=0 |
| Resets the occupation probability for the total map. | |
| void | saveMapAsImage (const char *file) const |
| Save function. | |
| virtual int | saveMapToFile (const char *file) const =0 |
| save a map to disk | |
| void | setResolution (float res) |
| sets the grid map resolution in meters | |
| void | setXOrigin (float xori) |
| sets the x real coordinates of pixel(0,0) | |
| void | setYOrigin (float yori) |
| sets the y real coordinates of pixel(0,0) | |
| void | showMap (const char *windowname) const |
| Show binMap. | |
| point | toCell (float x, float y) const |
| pointf | toCoords (int x, int y) const |
| virtual void | update (const rangeSensorData &rsData, const pose &rpos, float disp)=0 |
| Updates the occupancy grid using the new data. | |
Protected Member Functions | |
| int | floodfill (const int &x, const int &y, binMap &processed) const |
Protected Attributes | |
| unsigned short | height |
| float | realHeight |
| float | realWidth |
| float | resolution |
| unsigned short | width |
| float | xorigin |
| float | yorigin |
This is an abstract class that implements some common parts of the grid mapping algorithms.
Definition at line 27 of file occupancyGridMap.h.
1.7.6.1
