class mola::rhodes::OccGrid¶
Overview¶
Extends MRPT’s occupancy grid with super-resolution likelihood field. More…
#include <OccGrid.h> class OccGrid: public CSerializable { public: // structs struct InsertionParameters; struct LikelihoodParameters; // fields InsertionParameters insertionParameters_; LikelihoodParameters likelihoodParameters_; static constexpr float CACHE_MISS_VALUE = std::numeric_limits<float>::min(); // methods void setSize( const mrpt::math::TPoint2Df& minCorner, const mrpt::math::TPoint2Df& maxCorner, float resolution, float occupancyValue = 0.5f ); void resizeGrid( const mrpt::math::TPoint2Df& minCorner, const mrpt::math::TPoint2Df& maxCorner, float newCellsOccupancy = 0.5f ); void insertObservation( const mrpt::obs::CObservation2DRangeScan& obs, const mrpt::math::TPose2D& robotPose ); const mrpt::maps::COccupancyGridMap2D& grid() const; void resetLikelihoodCache(); };
Detailed Documentation¶
Extends MRPT’s occupancy grid with super-resolution likelihood field.
Fields¶
static constexpr float CACHE_MISS_VALUE = std::numeric_limits<float>::min()
For use in likelihoodCacheGrid_
Methods¶
void setSize( const mrpt::math::TPoint2Df& minCorner, const mrpt::math::TPoint2Df& maxCorner, float resolution, float occupancyValue = 0.5f )
Change the size of gridmap, erasing all its previous contents.
Parameters:
minCorner | The (x,y) coordinates of left-bottom grid corner. |
maxCorner | The (x,y) coordinates of right-top grid corner. |
resolution | The new size of square cells [meters] |
occupancyValue | The occupancy value of cells, tipically 0.5. |
void resizeGrid( const mrpt::math::TPoint2Df& minCorner, const mrpt::math::TPoint2Df& maxCorner, float newCellsOccupancy = 0.5f )
Change the size of gridmap, maintaining previous contents.
Parameters:
minCorner | The (x,y) coordinates of left-bottom grid corner. |
maxCorner | The (x,y) coordinates of right-top grid corner. |
newCellsOccupancyValue | Occupancy of new cells, tipically 0.5. |
See also:
void resetLikelihoodCache()
Invalidates all cached likelihood values (normally users do not need to call this)