Detailed Description

An internal class for storing the collision grid.

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:

Public Member Functions
	CColisionGrid (float x_min, float x_max, float y_min, float y_max, float resolution, CParameterizedTrajectoryGenerator *parent)
virtual	~CColisionGrid ()
bool	saveToFile (mrpt::utils::CStream *fil)
	Save to file, true = OK.
bool	loadFromFile (mrpt::utils::CStream *fil)
	Load from file, true = OK.
const TCollisionCell &	getTPObstacle (const float obsX, const float obsY) const
	For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.
void	updateCellInfo (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)
	Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:
void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution)
	Changes the size of the grid, ERASING all previous contents.
void	clear ()
	Erase the contents of all the cells.
void	fill (const T &value)
	Fills all the cells with the same value.
virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)
	Changes the size of the grid, maintaining previous contents.
T *	cellByPos (float x, float y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.
const T *	cellByPos (float x, float y) const
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.
T *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.
const T *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.
size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count.
size_t	getSizeY () const
	Returns the vertical size of grid map in cells count.
float	getXMin () const
	Returns the "x" coordinate of left side of grid map.
float	getXMax () const
	Returns the "x" coordinate of right side of grid map.
float	getYMin () const
	Returns the "y" coordinate of top side of grid map.
float	getYMax () const
	Returns the "y" coordinate of bottom side of grid map.
float	getResolution () const
	Returns the resolution of the grid map.
virtual float	cell2float (const T &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.
void	saveToTextFile (const std::string &fileName) const
int	x2idx (float x) const
	Transform a coordinate values into cell indexes.
int	x2idx (float x, float x_min) const
	Transform a coordinate value into a cell index, using a diferent "x_min" value.
int	y2idx (float y) const
int	y2idx (float y, float y_min) const
int	xy2idx (float x, float y) const
void	idx2cxcy (const int &idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.
float	idx2x (int cx) const
	Transform a cell index into a coordinate value.
float	idx2y (int cy) const
void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix.
Protected Member Functions
std::vector< T > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object.
Protected Attributes
std::vector< T >	m_map
	The cells.
float	m_x_min
float	m_x_max
float	m_y_min
float	m_y_max
float	m_resolution
size_t	m_size_x
size_t	m_size_y
Private Attributes
CParameterizedTrajectoryGenerator const *	m_parent

Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution,
		CParameterizedTrajectoryGenerator *	parent
	)		`[inline]`

Definition at line 194 of file CParameterizedTrajectoryGenerator.h.

virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid ( ) [inline, virtual]

Definition at line 199 of file CParameterizedTrajectoryGenerator.h.

Member Function Documentation

virtual float mrpt::utils::CDynamicGrid::cell2float ( const T & c ) const [inline, virtual, inherited]

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 281 of file CDynamicGrid.h.

T* mrpt::utils::CDynamicGrid::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		`[inline, inherited]`

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 236 of file CDynamicGrid.h.

const T* mrpt::utils::CDynamicGrid::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const `[inline, inherited]`

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 245 of file CDynamicGrid.h.

T* mrpt::utils::CDynamicGrid::cellByPos	(	float	x,
		float	y
	)		`[inline, inherited]`

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 210 of file CDynamicGrid.h.

const T* mrpt::utils::CDynamicGrid::cellByPos	(	float	x,
		float	y
	)		const `[inline, inherited]`

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 223 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid::clear ( void ) [inline, inherited]

Erase the contents of all the cells.

Definition at line 108 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid::fill ( const T & value ) [inline, inherited]

Fills all the cells with the same value.

Definition at line 116 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid::getAsMatrix ( MAT & m ) const [inline, inherited]

Get the entire grid as a matrix.

Template Parameters:

MAT	The type of the matrix, typically a CMatrixDouble.

Parameters:

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note:: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 329 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getResolution ( ) const [inline, inherited]

Returns the resolution of the grid map.

Definition at line 278 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid::getSizeX ( ) const [inline, inherited]

Returns the horizontal size of grid map in cells count.

Definition at line 254 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid::getSizeY ( ) const [inline, inherited]

Returns the vertical size of grid map in cells count.

Definition at line 258 of file CDynamicGrid.h.

const TCollisionCell& mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle	(	const float	obsX,
		const float	obsY
	)		const

For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.

float mrpt::utils::CDynamicGrid::getXMax ( ) const [inline, inherited]

Returns the "x" coordinate of right side of grid map.

Definition at line 266 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getXMin ( ) const [inline, inherited]

Returns the "x" coordinate of left side of grid map.

Definition at line 262 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getYMax ( ) const [inline, inherited]

Returns the "y" coordinate of bottom side of grid map.

Definition at line 274 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getYMin ( ) const [inline, inherited]

Returns the "y" coordinate of top side of grid map.

Definition at line 270 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const `[inline, inherited]`

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 306 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::idx2x ( int cx ) const [inline, inherited]

Transform a cell index into a coordinate value.

Definition at line 314 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::idx2y ( int cy ) const [inline, inherited]

Definition at line 315 of file CDynamicGrid.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile ( mrpt::utils::CStream * fil )

Load from file, true = OK.

std::vector<T>& mrpt::utils::CDynamicGrid::m_map_castaway_const ( ) const [inline, protected, inherited]

Used only from logically const method that really need to modify the object.

Definition at line 52 of file CDynamicGrid.h.

virtual void mrpt::utils::CDynamicGrid::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const T &	defaultValueNewCells,
		float	additionalMarginMeters = `2.0f`
	)		`[inline, virtual, inherited]`

Changes the size of the grid, maintaining previous contents.

See also:: setSize

Definition at line 121 of file CDynamicGrid.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile ( mrpt::utils::CStream * fil )

Save to file, true = OK.

void mrpt::utils::CDynamicGrid::saveToTextFile ( const std::string & fileName ) const [inline, inherited]

Definition at line 286 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid::setSize	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution
	)		`[inline, inherited]`

Changes the size of the grid, ERASING all previous contents.

See also:: resize

Definition at line 83 of file CDynamicGrid.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo	(	const unsigned int	icx,
		const unsigned int	icy,
		const uint16_t	k,
		const float	dist
	)