orca-robotics INTRODUCTION Overview Download and Install Quick Start Documentation Publications REPOSITORY Interfaces Components Libraries Utilities Software Map DEVELOPER Tutorials Examples Dev Guide Dashboard Wiki login/pass: orca/orca PEOPLE Contributors Users Project Download Mailing lists

orca::OgMapData Struct Reference [OgMap] Occupancy-grid representation of a portion of the world. More... List of all members. Public Attributes Time  timeStamp   Time when data was measured. Frame2d  offset int  numCellsX   The number of cells along the x axis. int  numCellsY   The number of cells along the y axis. float  metresPerCellX   The size of each cell, in the x dimension. float  metresPerCellY   The size of each cell, in the y dimension. ByteSeq  data OgMapType  mapType Detailed Description Occupancy-grid representation of a portion of the world. There are conceptually two coordinate systems: 1) The global continuous coordinate system. 2) The discrete grid-based coordinate system. In addition: 3) The array of cells can be indexed by a single integer. The three methods of referring to cells are defined as follows: 1) GLOBAL COORDINATE SYSTEM 2) CELL INDEXING 3) DATA STORAGE worldCell(double,double) gridCell(int,int) e.g. OgMapData->data(index) _________________ _________________ _________________ | | numCellsY-1 | ^ | | | world | | ^ | | | | | y-axis | | . | | | | | ^ | | . indY | |sizeY | | | | | | . | | | | | | | | . | | sizeX | |----> index | | oX | | . |<-|------------->| |---------------->| |----->|_________________| 0 |__v______________| |_________________| | ^ | | oY world indX index: 0 -> sizeX * sizeY - 1 |______|_____> x-axis 0 - - - - - - -> numCellsX-1 (oX = offset.p.x, oY = offset.p.y) (note: in (1), the map is aligned with the world axes. This need not be the case.) For OgMapData manipulation functions, see libOrcaOgMap The documentation for this struct was generated from the following file: ogmap.ice

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

---