hydroogmap Namespace Reference

libHydroOgMap provides OgMap manipulation utilities More...

Classes
struct	WorldCoords
	A point in the (continuous) world. More...
struct	GridIndices
	A cell in the grid. More...
class	GenericMap
class	MapRayTracer
	Adapts the RayTracer gear for dealing with 'GenericMap's. The template parameter CellTracer gets called once per cell that we trace through. Note that we guarantee that CellTracer doesn't get called for a cell outside the map. For an example CellTracer, see OgLosTracer. More...
class	OgLosTracer
	Computes whether line-of-sight exists in an occupancy grid map. More...
class	RayTracer
	Traces paths through a discrete grid. More...
Typedefs
typedef GenericMap< unsigned char >	OgMap
Functions
std::string	toText (const OgMap &map)
	Convert an occupancy grid map to text.
char	displayOgmapCell (unsigned char cell)
	Returns a character corresponding to occupancy (empty:' '; occupied:'#'; in-between:'-').
void	fuse (OgMap &master, const OgMap &update, unsigned char newCells)
void	overlay (OgMap &master, const OgMap &slave)

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Detailed Description

libHydroOgMap provides OgMap manipulation utilities

See also:

libHydroOgMap

hydro_interface_ogmap

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Typedef Documentation

typedef GenericMap<unsigned char> hydroogmap::OgMap

A map of occupancy values, stored as 8-bit numbers in the range 0-254

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Function Documentation

SOEXPORT void hydroogmap::fuse	(	OgMap &	master,
		const OgMap &	update,
		unsigned char	newCells = 127
	)

Fuses the map tile 'update' into the master map, by replacing the values in 'master' with the values in 'update'. The master will be resized if necessary. Any new cells whose occupancy cannot be determined by the update are set to 'newCells'.

Assumes:

• the resolutions match
• the maps have zero orientation.

SOEXPORT void hydroogmap::overlay	(	OgMap &	master,
		const OgMap &	slave
	)

Overlays two OgMaps, i.e. their occupancy values are bitwise or'd. Resulting map is stored in 'master'. Assumes that all map parameters (offset, resolution, number of cells) are the same.