Inserts range scan into an occupancy map. More...

#include <mapping/OccupancyGridMapping.h>

Public Member Functions
	OccupancyGridMapping ()

	~OccupancyGridMapping ()

void	insertScan (OccupancyGrid &map, const Pose3 &pose, const robot::RangeScan &scan, float maxRange=5.0f)
	Inserts a range scan into the specified occupancy map at the specified robot pose. More...

void	insertScan (OccupancyGrid &map, const Pose3 &poseStart, const Pose3 &poseEnd, const robot::RangeScan &scan, float maxRange=5.0f)
	Inserts a range scan into the specified occupancy map at the specified robot pose. More...

void	setSensorReliabilitySigma (float sigma)
	Set sigma for distance reliability function. More...

float	getSensorReliabilitySigma () const
	Returns the sigma for distance reliability function. More...

void	setEstimationOccupancyLimits (uint8 min, uint8 max)
	Set the occupancy limits for current estimation. More...

void	setMinEstimationOccupancyLimit (uint8 min)
	Sets the minimum occupancy estimated for current observation. More...

uint8	getMinEstimationOccupancyLimit () const

void	setMaxEstimationOccupancyLimit (uint8 max)
	Sets the maximum occupancy estimated for current observation. More...

uint8	getMaxEstimationOccupancyLimit () const

void	setMapOccupancyLimits (uint8 min, uint8 max)
	Set the occupancy limits for resulting map occupancy. More...

void	setMinOccupancyLimit (uint8 min)
	Sets the minimum occupancy in the map. More...

uint8	getMinOccupancyLimit () const

void	setMaxOccupancyLimit (uint8 max)
	Sets the maximum occupancy in the map. More...

uint8	getMaxOccupancyLimit () const

void	setEnsureOccupancyLimitsAfterUpdate (bool enable)
	If set to true, the min and max limit of the occupancy values are clamped AFTER updating the map using the complete range scan, instead of limiting the occupancy values when inserting a single beam reading (the latter one is the default). More...

bool	getEnsureOccupancyLimitsAfterUpdate () const

void	setLocalCropRadius (float localRadius)
	Sets the local cropping radius for mapping. More...

float	getLocalCropRadius () const

void	setMinCertainty (float certainty)
	Sets the minimum certainty a scan must have to be taken into account. More...

float	getMinCertainty () const

Static Public Member Functions
static void	clampToMapOccupancyLimits (OccupancyGrid &map, const Rect2f &region, uint8 min, uint8 max)
	Clamps the occupancy values of the map in the given region to the specified limits. More...

Friends
template<bool useReliability, bool freeOnly>
class	Visitor

Detailed Description

Inserts range scan into an occupancy map.

The range scans are inserted into the map according to the Bayes update rule. Additionally, a sensor reliability can be used optionally. Therefore a reliability function is multiplied to the sensor update values. As reliability function a Gaussian function is used that decreases the influence of the map update with a larger distance to the sensor.

For better performance, both, the Bayes update and the reliability function use two look-up tables, which however do not decrease the precision. Additionally, the updates are performed with subpixel accuracy to achieve a high precision.

Constructor & Destructor Documentation

◆ OccupancyGridMapping()

OccupancyGridMapping ( )

◆ ~OccupancyGridMapping()

~OccupancyGridMapping ( )

Member Function Documentation

◆ insertScan() [1/2]

void insertScan	(	OccupancyGrid &	map,
		const Pose3 &	pose,
		const robot::RangeScan &	scan,
		float	maxRange = `5.0f`
	)

inline

Inserts a range scan into the specified occupancy map at the specified robot pose.

The map is resized if necessary. Using the maxRange parameter the max. size of the update region can be limited. This function uses the Bayes update rule for inserting the scans. The laser mounting position (upright or upside down) is automatically determined from the pose.

◆ insertScan() [2/2]

void insertScan	(	OccupancyGrid &	map,
		const Pose3 &	poseStart,
		const Pose3 &	poseEnd,
		const robot::RangeScan &	scan,
		float	maxRange = `5.0f`
	)

Inserts a range scan into the specified occupancy map at the specified robot pose.

The pose is interpolated linearly between poseStart and poseEnd for each scan.

poseStart can be determined by getting the transform of the laser in the map at the timestamp of the scan
poseEnd can be determined by getting the transform of the laser in the map at the timestamp of the scan + scanTime

The map is resized if necessary. Using the maxRange parameter the max. size of the update region can be limited. This function uses the Bayes update rule for inserting the scans. The laser mounting position (upright or upside down) is automatically determined from the pose.

◆ clampToMapOccupancyLimits()

static void clampToMapOccupancyLimits	(	OccupancyGrid &	map,
		const Rect2f &	region,
		uint8	min,
		uint8	max
	)

static

Clamps the occupancy values of the map in the given region to the specified limits.

This method is called by insertScan(), if "ensureOccupancyLimitsAfterUpdate" is set to true.

◆ setSensorReliabilitySigma()

void setSensorReliabilitySigma ( float sigma )

inline

Set sigma for distance reliability function.

In the map update, the sensor's reliability usually is considered decreasing with growing distance. reliability = exp(-distance^2/sigma^2)

If sigma is 0.0 then the reliability is not used.

Parameters

[in] sigma Sigma for reliability function

◆ getSensorReliabilitySigma()

float getSensorReliabilitySigma ( ) const

inline

Returns the sigma for distance reliability function.

◆ setEstimationOccupancyLimits()

void setEstimationOccupancyLimits	(	uint8	min,
		uint8	max
	)

inline

Set the occupancy limits for current estimation.

Convergence speed of occupancies can be controlled by setting limits for the current observation and for the overall map occupancy.

wide current observation limits -> faster map change narrow current observation limits -> slower map change

Parameters

[in]	max	Maximum occupancy estimated for current observation (higher estimations are truncated)
[in]	min	Minimum occupancy estimated for current observation (lower estimations are truncated)

◆ setMinEstimationOccupancyLimit()

void setMinEstimationOccupancyLimit ( uint8 min )

inline

Sets the minimum occupancy estimated for current observation.

See also: setEstimationOccupancyLimits()

◆ getMinEstimationOccupancyLimit()

uint8 getMinEstimationOccupancyLimit ( ) const

inline

◆ setMaxEstimationOccupancyLimit()

void setMaxEstimationOccupancyLimit ( uint8 max )

inline

Sets the maximum occupancy estimated for current observation.

See also: setEstimationOccupancyLimits()

◆ getMaxEstimationOccupancyLimit()

uint8 getMaxEstimationOccupancyLimit ( ) const

inline

◆ setMapOccupancyLimits()

void setMapOccupancyLimits	(	uint8	min,
		uint8	max
	)

Set the occupancy limits for resulting map occupancy.

Convergence speed of occupancies can be controlled by setting limits for the current observation and for the overall map occupancy.

wide map occupancy limits -> strong convergence -> slow change narrow map occupancy limits -> weak convergence -> fast change

Parameters

[in]	pMax	Maximum occupancy in the map (higher estimations are truncated)
[in]	pMin	Minimum occupancy in the map (lower estimations are truncated)

◆ setMinOccupancyLimit()

void setMinOccupancyLimit ( uint8 min )

inline

Sets the minimum occupancy in the map.

See also: setMapOccupancyLimits()

◆ getMinOccupancyLimit()

uint8 getMinOccupancyLimit ( ) const

inline

◆ setMaxOccupancyLimit()

void setMaxOccupancyLimit ( uint8 max )

inline

Sets the maximum occupancy in the map.

See also: setMapOccupancyLimits()

◆ getMaxOccupancyLimit()

uint8 getMaxOccupancyLimit ( ) const

inline

◆ setEnsureOccupancyLimitsAfterUpdate()

void setEnsureOccupancyLimitsAfterUpdate ( bool enable )

If set to true, the min and max limit of the occupancy values are clamped AFTER updating the map using the complete range scan, instead of limiting the occupancy values when inserting a single beam reading (the latter one is the default).

◆ getEnsureOccupancyLimitsAfterUpdate()

bool getEnsureOccupancyLimitsAfterUpdate ( ) const

inline

◆ setLocalCropRadius()

void setLocalCropRadius ( float localRadius )

inline

Sets the local cropping radius for mapping.

If the specified local radius is >0, then the map is cropped to an area with the specified local radius around the sensor with each update. This ensures that the map shows a local area around the sensor only and allows to create "local maps". If the radius is <= 0 (the default) the map grows only. This mode then allows to create "global maps".

◆ getLocalCropRadius()

float getLocalCropRadius ( ) const

inline

◆ setMinCertainty()

void setMinCertainty ( float certainty )

inline

Sets the minimum certainty a scan must have to be taken into account.

Only used when range scan supports certainty vector

◆ getMinCertainty()

float getMinCertainty ( ) const

inline

Friends And Related Function Documentation

◆ Visitor

friend class Visitor

friend

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

include/mapping/OccupancyGridMapping.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyGridMapping()

◆ ~OccupancyGridMapping()

Member Function Documentation

◆ insertScan() [1/2]

◆ insertScan() [2/2]

◆ clampToMapOccupancyLimits()

◆ setSensorReliabilitySigma()

◆ getSensorReliabilitySigma()

◆ setEstimationOccupancyLimits()

◆ setMinEstimationOccupancyLimit()

◆ getMinEstimationOccupancyLimit()

◆ setMaxEstimationOccupancyLimit()

◆ getMaxEstimationOccupancyLimit()

◆ setMapOccupancyLimits()

◆ setMinOccupancyLimit()

◆ getMinOccupancyLimit()

◆ setMaxOccupancyLimit()

◆ getMaxOccupancyLimit()

◆ setEnsureOccupancyLimitsAfterUpdate()

◆ getEnsureOccupancyLimitsAfterUpdate()

◆ setLocalCropRadius()

◆ getLocalCropRadius()

◆ setMinCertainty()

◆ getMinCertainty()

Friends And Related Function Documentation

◆ Visitor