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OgMap
An planar occupancy-grid representation of the world. More...Classes | |
| struct | orca::OgMapData |
| Occupancy-grid representation of a portion of the world. More... | |
| class | orca::OgMapConsumer |
| class | orca::OgMap |
| Access to occupancy-grid map. More... | |
Enumerations | |
| enum | orca::OgMapType |
| OG map type. | |
Functions | |
| void | orca::OgMap::subscribe (OgMapConsumer *subscriber) throw ( SubscriptionFailedException) |
| void | orca::OgMap::unsubscribe (OgMapConsumer *subscriber) |
Variables | |
| Frame2d | orca::OgMapData::offset |
| int | orca::OgMapData::numCellsX |
| The number of cells along the x axis. | |
| int | orca::OgMapData::numCellsY |
| The number of cells along the y axis. | |
| float | orca::OgMapData::metresPerCellX |
| The size of each cell, in the x dimension. | |
| float | orca::OgMapData::metresPerCellY |
| The size of each cell, in the y dimension. | |
| ByteSequence | orca::OgMapData::data |
| OgMapType | orca::OgMapData::mapType |
Detailed Description
An planar occupancy-grid representation of the world.The OgMapData object is a representation of a part of the world. It need not represent the entire world. By describing only a subset of the world, agents can transmit updates to one another, which can be fused to create a larger occupancy-grid map.
- See also:
- libOrcaOgMap
Function Documentation
| void orca::OgMap::subscribe | ( | OgMapConsumer * | subscriber | ) | throw ( SubscriptionFailedException) [inherited] |
Mimics IceStorm's subscribe(). subscriber is typically a direct proxy to the consumer object. The implementation may choose to implement the push directly or use IceStorm. This choice is transparent to the subscriber. The case when the subscriber is already subscribed is quietly ignored.
- See also:
- unsubscribe
| void orca::OgMap::unsubscribe | ( | OgMapConsumer * | subscriber | ) | [inherited] |
Unsubscribe an existing subscriber. The case when the subscriber is not subscribed is quietly ignored.
- See also:
- subscribe
Variable Documentation
ByteSequence orca::OgMapData::data [inherited] |
The occupancy values. To give a definite mid-point the last level (255) is not used: i.e. 0 = unoccupied, 254 = occupied and 127 = unknown.
OgMapType orca::OgMapData::mapType [inherited] |
Type of certainty grid map (see above) Useful to distinguish between occupancy, motion, hazard maps etc.
Frame2d orca::OgMapData::offset [inherited] |
Transformation from the global (arbitrarily defined) coordinate system (CS) to the CS of the OG map. The OG map CS is defined as as follows:
- origin at the bottom-left corner
- X axis along the bottom edge to the right
- Y axis along the left edge up Example: if the global CS starts in the middle of a OG map and there are no rotations, then the OG map offset is (-width/2, -height/2, 0).
