Arak::OccupancyGrid Class Reference

#include <occupancy_grid.hpp>

List of all members.

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Detailed Description

This is a simple class that implements "evidence grid" maps for laser and sonar updates.

Definition at line 16 of file occupancy_grid.hpp.

Public Member Functions
	OccupancyGrid (const Util::PropertyMap &props)
	Constructor.
	~OccupancyGrid ()
	Destructor.
void	laser (const Geometry::Point &source, const Geometry::Point &impact, double maxRange, double obstacleWidth, double p_given_obs, double p_given_free)
	Conditions this occupancy grid on a range observation.
void	laser_scan (const Geometry::Point &source, const std::vector< Geometry::Point > &impacts, double maxRange, double obstacleWidth, double p_given_obs, double p_given_free)
	Conditions this occupancy grid on a range observation.
void	sonar (const Geometry::Point &source, double angle, double range, double maxRange, double obstacleWidth, double width, double p_given_obs, double p_given_free)
	Conditions this occupancy grid on a sonar observation.
template<typename charT, typename traits> void	write (std::basic_ostream< charT, traits > &out) const
	Writes an ASCII representation of the current estimates to the supplied stream.
template<typename charT, typename traits>	OccupancyGrid (std::basic_istream< charT, traits > &in)
	Stream constructor.
Protected Types
typedef Grid< OccupancyEstimator * >	EstimatorGrid
Protected Attributes
EstimatorGrid *	grid
	An index of the grid cells whose occupancies are estimated.

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Member Typedef Documentation

typedef Grid<OccupancyEstimator*> Arak::OccupancyGrid::EstimatorGrid [protected]

Definition at line 27 of file occupancy_grid.hpp. Referenced by OccupancyGrid().

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Constructor & Destructor Documentation

OccupancyGrid::OccupancyGrid (  const Util::PropertyMap &  props  )

Constructor. Parameters: props  a property map Definition at line 11 of file occupancy_grid.cpp. References EstimatorGrid, laser_scan(), Arak::Geometry::Point, Arak::Util::PropertyMap, Arak::Geometry::Rectangle, and sonar().

OccupancyGrid::~OccupancyGrid (   )

Destructor. Definition at line 107 of file occupancy_grid.cpp.

template<typename charT, typename traits> Arak::OccupancyGrid::OccupancyGrid (  std::basic_istream< charT, traits > &  in  )  [inline]

Stream constructor. Parameters: in  an input stream from which the occupancy grid is read. Definition at line 209 of file occupancy_grid.hpp. References EstimatorGrid, Arak::OccupancyGrid::OccupancyEstimator::log_odds, Arak::OccupancyGrid::OccupancyEstimator::prior_log_odds, Arak::Geometry::Rectangle, and Arak::skipcomments().

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Member Function Documentation

void OccupancyGrid::laser (  const Geometry::Point &  source, const Geometry::Point &  impact, double  maxRange, double  obstacleWidth, double  p_given_obs, double  p_given_free )

Conditions this occupancy grid on a range observation. Parameters: source  the point from which the observation was made impact  the measurement, backprojected into the global coordinate frame maxRange  the maximum valid range measurement obstacleWidth  the depth of an obstacle p_given_obs  the posterior probability a cell is occupied given an obstacle is observed crossing the cell p_given_free  the posterior probability a cell is free given no obstacle is observed crossing the cell Definition at line 117 of file occupancy_grid.cpp. References Arak::OccupancyGrid::OccupancyEstimator::condition(), Arak::Geometry::Point, Arak::Geometry::Segment, and Arak::Geometry::Vector.

void OccupancyGrid::laser_scan (  const Geometry::Point &  source, const std::vector< Geometry::Point > &  impacts, double  maxRange, double  obstacleWidth, double  p_given_obs, double  p_given_free )

Conditions this occupancy grid on a range observation. Parameters: source  the point from which the observation was made impacts  a vector of the scan measurements, backprojected into the global coordinate frame maxRange  the maximum valid range measurement obstacleWidth  the depth of an obstacle p_given_obs  the posterior probability a cell is occupied given an obstacle is observed crossing the cell p_given_free  the posterior probability a cell is free given no obstacle is observed crossing the cell Definition at line 149 of file occupancy_grid.cpp. References Arak::OccupancyGrid::OccupancyEstimator::condition(), Arak::Geometry::Line, Arak::Geometry::Point, and Arak::Geometry::Rectangle. Referenced by OccupancyGrid().

void OccupancyGrid::sonar (  const Geometry::Point &  source, double  angle, double  range, double  maxRange, double  obstacleWidth, double  width, double  p_given_obs, double  p_given_free )

Conditions this occupancy grid on a sonar observation. Parameters: source  the location of the sensor (meters) angle  the orientation of the sensor (radians) range  the observed range measurement (meters) maxRange  the maximum range measurement obstacleWidth  the depth of an obstacle width  the width of the sonar cone (radians) p_given_obs  the posterior probability a cell is occupied given an obstacle is observed crossing the cell p_given_free  the posterior probability a cell is free given no obstacle is observed crossing the cell Definition at line 210 of file occupancy_grid.cpp. References Arak::OccupancyGrid::OccupancyEstimator::condition(), Arak::Geometry::Direction, Arak::outerApprox(), Arak::Geometry::Point, and Arak::Geometry::Triangle. Referenced by OccupancyGrid().

template<typename charT, typename traits> void Arak::OccupancyGrid::write (  std::basic_ostream< charT, traits > &  out  )  const [inline]

Writes an ASCII representation of the current estimates to the supplied stream. The first line gives the number of rows and columns of the grid; the third line is the boundary of the grid. Then the estimates are written out as a matrix (one line per row) in reverse-row order (so the first element corresponds to the upper left corner of the grid). Each estimate is the probability the cell is occupied. Parameters: out  the stream on which to write the estimates Definition at line 183 of file occupancy_grid.hpp. References Arak::OccupancyGrid::OccupancyEstimator::estimate(). Referenced by main().

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Member Data Documentation

EstimatorGrid* Arak::OccupancyGrid::grid [protected]

An index of the grid cells whose occupancies are estimated. Definition at line 84 of file occupancy_grid.hpp.

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

• occupancy_grid.hpp
• occupancy_grid.cpp

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