#include <map.hpp>

Public Member Functions
	OccupancyMap ()=default

	OccupancyMap (FieldConfig field)

MapStatus	reset (FieldConfig field)

bool	initialized () const

const FieldConfig &	field () const

std::size_t	columns () const

std::size_t	rows () const

void	clear ()

void	setIgnoredRegions (std::vector< Rect > regions)

const std::vector< Rect > &	ignoredRegions () const

bool	isIgnored (double x, double y) const

void	insertRay (const Pose &sensorPose, double distanceInches, double maximumDistance, bool hit)
	Inserts a measured ray. A hit adds occupied evidence at its endpoint.

void	rebuildDistanceField ()

bool	occupiedAt (double x, double y) const

double	distanceToObstacle (double x, double y) const

std::int8_t	logOddsAt (std::size_t column, std::size_t row) const

MapStatus	save (const std::string &path, bool keepBackup=true) const

MapStatus	load (const std::string &path, bool tryBackup=true)

const std::vector< std::int8_t > &	occupancyData () const

Constructor & Destructor Documentation

◆ OccupancyMap() [1/2]

wolflib::OccupancyMap::OccupancyMap ( )

default

◆ OccupancyMap() [2/2]

wolflib::OccupancyMap::OccupancyMap ( FieldConfig field )

explicit

Member Function Documentation

◆ clear()

void wolflib::OccupancyMap::clear ( )

◆ columns()

std::size_t wolflib::OccupancyMap::columns ( ) const

◆ distanceToObstacle()

double wolflib::OccupancyMap::distanceToObstacle	(	double	x,
		double	y
	)		const

◆ field()

const FieldConfig & wolflib::OccupancyMap::field ( ) const

◆ ignoredRegions()

const std::vector< Rect > & wolflib::OccupancyMap::ignoredRegions ( ) const

◆ initialized()

bool wolflib::OccupancyMap::initialized ( ) const

◆ insertRay()

void wolflib::OccupancyMap::insertRay	(	const Pose &	sensorPose,
		double	distanceInches,
		double	maximumDistance,
		bool	hit
	)

Inserts a measured ray. A hit adds occupied evidence at its endpoint.

◆ isIgnored()

bool wolflib::OccupancyMap::isIgnored	(	double	x,
		double	y
	)		const

◆ load()

MapStatus wolflib::OccupancyMap::load	(	const std::string &	path,
		bool	tryBackup = `true`
	)

◆ logOddsAt()

std::int8_t wolflib::OccupancyMap::logOddsAt	(	std::size_t	column,
		std::size_t	row
	)		const

◆ occupancyData()

const std::vector< std::int8_t > & wolflib::OccupancyMap::occupancyData ( ) const

◆ occupiedAt()

bool wolflib::OccupancyMap::occupiedAt	(	double	x,
		double	y
	)		const

◆ rebuildDistanceField()

void wolflib::OccupancyMap::rebuildDistanceField ( )

◆ reset()

MapStatus wolflib::OccupancyMap::reset ( FieldConfig field )

◆ rows()

std::size_t wolflib::OccupancyMap::rows ( ) const

◆ save()

MapStatus wolflib::OccupancyMap::save	(	const std::string &	path,
		bool	keepBackup = `true`
	)		const

◆ setIgnoredRegions()

void wolflib::OccupancyMap::setIgnoredRegions ( std::vector< Rect > regions )

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

include/wolflib/map.hpp

Public Member Functions