#include <maps/CostMap.h>

Inheritance diagram for CostMap:

[legend]

Public Types
typedef GridMap< double >	Base

typedef Base::Pixel	CellType

typedef ImgPixel< double, 1 >	Pixel

typedef ImgIterator< ImgPixel< double, 1 > >	iterator

typedef ImgConstIterator< ImgPixel< double, 1 > >	const_iterator

Public Member Functions
	CostMap ()

	CostMap (const Base &map, const std::string &iFrameID)

	CostMap (const Size2i &size, float cellSize, const Point2i &offset=Point2i(0, 0), const std::string &iFrameID="")

CostMap &	operator= (const CellType &c)

CostMap	clone () const

Point2f	getGradient (const Point2i &mapPos) const
	Returns the gradient per cell. More...

float	getCellSize () const
	Returns the size of each cell in meter. More...

Point2i	getOffset () const
	Returns the offset of the map, e.g. the index of the cell that is located in the origin. More...

Point2i	getMapOffset () const
	Provided for backward compatibility. Use getOffset() instead. More...

Point2f	getWorldOffset () const
	Returns the offset of the map in metric coordinates. More...

Rect2f	getRegion () const
	Returns the region that is covered by the GridMap. More...

Rect2i	getMapRegion () const
	Returns the region that is covered by the GridMap in grid cells. More...

void	grow (const Rect2f &region, const CellType &valueForNewCells)
	Grows the map so that the specified region is covered by the map. More...

void	grow (const Rect2i &region, const CellType &valueForNewCells)

void	grow (const Point2i &growLowerLeftDelta, const Point2i &growUpperRightDelta, const CellType &valueForNewCells)
	Grows the map by decreasing its minCorner by growLowerLeftDelta and increasing its maxCorner by growUpperRightDelta. More...

void	clip (const Rect2i &region, const CellType &valueForNewCells)
	Grows and optionally crops the map to cover the specified region while minimizing copying of memory. More...

void	clip (const Rect2f &region, const CellType &valueForNewCells)

Point2i	world2map (const Point2f &p, bool roundDown=true) const
	Convert a given point to map coordinates. More...

Rect2i	world2map (const Rect2f &r, bool includeBorder=true) const
	Returns the Rect in cell coordinates that is covered by the given rect that is specified in world coordinates. More...

Point2f	world2mapf (const Point2f &p) const
	Convert a given point to map coordinates. More...

Point2f	map2world (const Point2i &p) const
	Convert a given point to world coordinates. More...

Point2f	map2world (const Point2f &p) const
	Convert a given point to world coordinates. More...

void	reflect (BinarySerializer< Derived > &r)
	Reflect method for serialization. More...

void	reflect (BinaryDeserializer< Derived > &r)
	Reflect method for deserialization. More...

void	reflect (JSONSerializer &r)
	Reflect method for text visualization. More...

ImgPixel< double, 1 > *	operator[] (int y)

const ImgPixel< double, 1 > *	operator[] (int y) const

Img< double, 1 >	operator() (const cv::Rect &roi)

Img< double, 1 >	operator() (const cv::Rect &roi) const

ImgPixel< double, 1 > &	operator() (int x, int y)

const ImgPixel< double, 1 > &	operator() (int x, int y) const

ImgPixel< double, 1 > &	operator() (const cv::Point &p)

const ImgPixel< double, 1 > &	operator() (const cv::Point &p) const

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

	operator const cv::Mat & () const

	operator cv::Mat & ()

void	assignROI (const cv::Rect &roi, const ImgBase &other)

void	assignMask (const cv::Rect &roi, const ImgBase &other, const cv::Mat &mask)

void	assignPolygon (const cv::Rect &roi, const ImgBase &other, const Polygon2i &poly)

bool	operator== (const cv::Mat &other) const

bool	operator!= (const cv::Mat &other) const

const cv::Mat &	getMat () const

bool	empty () const

int	width () const

int	height () const

std::size_t	step () const

std::size_t	bytesPerLine () const

Size2i	size () const

int	depth () const

int	channels () const

bool	isEmpty () const

uint8 *	data ()

const uint8 *	data () const

uint8 *	data (int y)

const uint8 *	data (int y) const

ImgFormat	format () const

void	resize (const Size2i &s)

void	resize (int width, int height)

void	clear ()

std::size_t	total () const

Static Public Member Functions
static Img< double, 1 >	convertFrom (const cv::Mat &other, bool alwaysCopy=false)

Public Attributes
std::string	frameID

	Channels

Protected Types
typedef Img< double, 1 >	Self

Protected Member Functions
Img< double, 1 > *	This ()

const Img< double, 1 > *	This () const

cv::Mat_< ImgPixel< double, 1 > > &	castToMat ()

const cv::Mat_< ImgPixel< double, 1 > > &	castToMat () const

Protected Attributes
float	mCellSize
	width of one cell in m More...

Point2i	mOffset
	cell index that corresponds to the origin of the map More...

cv::Mat	mData

Member Typedef Documentation

◆ Base

typedef GridMap<double> Base

◆ CellType

typedef Base::Pixel CellType

inherited

Constructor & Destructor Documentation

◆ CostMap() [1/3]

CostMap ( )

inline

◆ CostMap() [2/3]

CostMap	(	const Base &	map,
		const std::string &	iFrameID
	)

inline

◆ CostMap() [3/3]

CostMap	(	const Size2i &	size,
		float	cellSize,
		const Point2i &	offset = `Point2i(0, 0)`,
		const std::string &	iFrameID = `""`
	)

inline

Member Function Documentation

◆ operator=()

CostMap& operator= ( const CellType & c )

inline

◆ clone()

CostMap clone ( ) const

inline

◆ getGradient()

Point2f getGradient ( const Point2i & mapPos ) const

inline

Returns the gradient per cell.

Divide by the cell size to get gradient per meter.

◆ getCellSize()

float getCellSize ( ) const

inlineinherited

Returns the size of each cell in meter.

◆ getOffset()

Point2i getOffset ( ) const

inlineinherited

Returns the offset of the map, e.g. the index of the cell that is located in the origin.

◆ getMapOffset()

Point2i getMapOffset ( ) const

inlineinherited

Provided for backward compatibility. Use getOffset() instead.

◆ getWorldOffset()

Point2f getWorldOffset ( ) const

inlineinherited

Returns the offset of the map in metric coordinates.

◆ getRegion()

Rect2f getRegion ( ) const

inlineinherited

Returns the region that is covered by the GridMap.

◆ getMapRegion()

Rect2i getMapRegion ( ) const

inlineinherited

Returns the region that is covered by the GridMap in grid cells.

◆ grow() [1/3]

void grow	(	const Rect2f &	region,
		const CellType &	valueForNewCells
	)

inlineinherited

Grows the map so that the specified region is covered by the map.

New cells are initialized with the specified value. If the region is already covered by the map this method does nothing. Note that, if the map is resized, data from the old map will be copied into the new map. This may result in performance penalties, if the map is resized very often. Additionally, the specified value for new cells is copied using a memcpy. This is allowed since the GridMap class can be used for POD types only.

◆ grow() [2/3]

void grow	(	const Rect2i &	region,
		const CellType &	valueForNewCells
	)

inlineinherited

◆ grow() [3/3]

void grow	(	const Point2i &	growLowerLeftDelta,
		const Point2i &	growUpperRightDelta,
		const CellType &	valueForNewCells
	)

inlineinherited

Grows the map by decreasing its minCorner by growLowerLeftDelta and increasing its maxCorner by growUpperRightDelta.

Parameters

growLowerLeftDelta	margin by which the minCorner is decreased. Must not be negative
growUpperRightDelta	margin by which the mayCorner is increased. Must not be negative
valueForNewCells	The value for cells that are newly added

◆ clip() [1/2]

void clip	(	const Rect2i &	region,
		const CellType &	valueForNewCells
	)

inlineinherited

Grows and optionally crops the map to cover the specified region while minimizing copying of memory.

Parameters

region	The new region that is covered by the map
valueForNewCells	The value for cells that are newly added

◆ clip() [2/2]

void clip	(	const Rect2f &	region,
		const CellType &	valueForNewCells
	)

inlineinherited

◆ world2map() [1/2]

Point2i world2map	(	const Point2f &	p,
		bool	roundDown = `true`
	)		const

inlineinherited

Convert a given point to map coordinates.

Parameters

[in]	p	Point in world coordinates
[in]	roundDown	If true, use std::floor for rounding, else use std::ceil

Returns: Point in map coordinates

Note: The point is not checked if it exceeds the boundaries of the map

◆ world2map() [2/2]

Rect2i world2map	(	const Rect2f &	r,
		bool	includeBorder = `true`
	)		const

inlineinherited

Returns the Rect in cell coordinates that is covered by the given rect that is specified in world coordinates.

Parameters

includeBorder If true, it is guaranteed, that the returned Rect covers at least the same area as the specified rect. If it is false, the Rect may be smaller.

Note: The rect is not checked if it exceeds the boundaries of the map

◆ world2mapf()

Point2f world2mapf ( const Point2f & p ) const

inlineinherited

Convert a given point to map coordinates.

Parameters

[in] p Point in world coordinates

Returns: Floating-point point in map coordinates.

Note: The point is not checked if it exceeds the boundaries of the map

◆ map2world() [1/2]

Point2f map2world ( const Point2i & p ) const

inlineinherited

Convert a given point to world coordinates.

Parameters

[in] p Cell index in map coordinates.

Returns: Point in world coordinates. Specifying the cell's lower-left corner position

◆ map2world() [2/2]

Point2f map2world ( const Point2f & p ) const

inlineinherited

Convert a given point to world coordinates.

Parameters

[in] p Point in map coordinates. Specifying an floating-point point in cell coordinates.

Returns: Point in world coordinates.

◆ reflect() [1/3]

void reflect ( BinarySerializer< Derived > & r )

inlineinherited

Reflect method for serialization.

◆ reflect() [2/3]

void reflect ( BinaryDeserializer< Derived > & r )

inlineinherited

Reflect method for deserialization.

◆ reflect() [3/3]

void reflect ( JSONSerializer & r )

inlineinherited

Reflect method for text visualization.

Member Data Documentation

◆ frameID

std::string frameID

◆ mCellSize

float mCellSize

protectedinherited

width of one cell in m

◆ mOffset

Point2i mOffset

protectedinherited

cell index that corresponds to the origin of the map

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

include/maps/CostMap.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Base

◆ CellType

Constructor & Destructor Documentation

◆ CostMap() [1/3]

◆ CostMap() [2/3]

◆ CostMap() [3/3]

Member Function Documentation

◆ operator=()

◆ clone()

◆ getGradient()

◆ getCellSize()

◆ getOffset()

◆ getMapOffset()

◆ getWorldOffset()

◆ getRegion()

◆ getMapRegion()

◆ grow() [1/3]

◆ grow() [2/3]

◆ grow() [3/3]

◆ clip() [1/2]

◆ clip() [2/2]

◆ world2map() [1/2]

◆ world2map() [2/2]

◆ world2mapf()

◆ map2world() [1/2]

◆ map2world() [2/2]

◆ reflect() [1/3]

◆ reflect() [2/3]

◆ reflect() [3/3]

Member Data Documentation

◆ frameID

◆ mCellSize

◆ mOffset