hydroogmap::OgLosTracer Class Reference

Computes whether line-of-sight exists in an occupancy grid map. More...

#include <oglostracer.h>

List of all members.

Public Member Functions
bool	isClearCells (const GridIndices &start, const GridIndices &intendedEnd, GridIndices &actualEnd)
bool	isClearCells (const GridIndices &start, const GridIndices &intendedEnd)
bool	isClearWorld (const WorldCoords &start, const WorldCoords &intendedEnd, WorldCoords &actualEnd)
	Similar to isClearCells, but specify endpoints in world coords.
bool	isClearWorld (const WorldCoords &start, const WorldCoords &intendedEnd)
	Similar to isClearCells, but specify endpoints in world coords.

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Detailed Description

Computes whether line-of-sight exists in an occupancy grid map.

Author:

Alex Brooks

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Member Function Documentation

bool hydroogmap::OgLosTracer::isClearCells	(	const GridIndices &	start,
		const GridIndices &	intendedEnd
	)			[inline]

Trace from start(x0,y0) to intendedEnd(x1,y1). Returns: true: we didn't hit an obstacle. false: we hit an obstacle or left the map.

References hydroogmap::MapRayTracer< MapType, MapCellTracer >::traceCells().

bool hydroogmap::OgLosTracer::isClearCells	(	const GridIndices &	start,
		const GridIndices &	intendedEnd,
		GridIndices &	actualEnd
	)			[inline]

Trace from start(x0,y0) to intendedEnd(x1,y1). Puts the point at which it stopped tracing in actualEnd(endX,endY). Returns: true: we didn't hit an obstacle. false: we hit an obstacle or left the map.

References hydroogmap::MapRayTracer< MapType, MapCellTracer >::traceCells().

Referenced by isClearWorld().

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

• oglostracer.h