beluga_ros::OccupancyGrid Class Reference

Thin wrapper type for 2D nav_msgs/OccupancyGrid messages. More...

#include <occupancy_grid.hpp>

Inheritance diagram for beluga_ros::OccupancyGrid:

Collaboration diagram for beluga_ros::OccupancyGrid:

Classes
struct	ValueTraits
	Traits for occupancy grid value interpretation. More...

Public Member Functions
	OccupancyGrid (beluga_ros::msg::OccupancyGridConstSharedPtr grid)
const Sophus::SE2d &	origin () const
	Get the occupancy grid origin in the occupancy grid frame.
std::size_t	size () const
	Get the size of the occupancy grid (width() times height()).
const auto &	data () const
	Get a reference to the underlying data storeage (ie. a row-major array).
std::size_t	width () const
	Get the width of the occupancy grid.
std::size_t	height () const
	Get the height of the occupancy grid.
double	resolution () const
	Get the resolution of the occupancy grid discretization, in meters.
Public Member Functions inherited from beluga::BaseOccupancyGrid2< OccupancyGrid >
bool	free_at (std::size_t index) const
bool	free_at (int xi, int yi) const
bool	free_at (const Eigen::Vector2i &pi) const
bool	free_near (double x, double y) const
bool	free_near (const Eigen::Vector2d &p) const
auto	coordinates_at (std::size_t index, Frame frame) const
auto	coordinates_for (Range &&cells, Frame frame) const
auto	free_cells () const
auto	obstacle_mask () const
auto	unknown_mask () const
Public Member Functions inherited from beluga::BaseLinearGrid2< class >
std::size_t	index_at (int xi, int yi) const
std::size_t	index_at (const Eigen::Vector2i &pi) const
Eigen::Vector2d	coordinates_at (std::size_t index) const
auto	data_at (std::size_t index) const
auto	neighborhood4 (std::size_t index) const
Public Member Functions inherited from beluga::BaseDenseGrid2< class >
bool	contains (int xi, int yi) const
bool	contains (const Eigen::Vector2i &pi) const
auto	data_at (int xi, int yi) const
auto	data_at (const Eigen::Vector2i &pi) const
auto	data_near (double x, double y) const
auto	data_near (const Eigen::Vector2d &p) const
auto	neighborhood4 (int xi, int yi) const
auto	neighborhood4 (const Eigen::Vector2i &pi) const
Public Member Functions inherited from beluga::BaseRegularGrid< class, NDim >
Eigen::Vector< int, NDim >	cell_near (const Eigen::Vector< double, NDim > &p) const
Eigen::Vector< double, NDim >	coordinates_at (const Eigen::Vector< int, NDim > &pi) const
auto	coordinates_for (Range &&cells) const

Static Public Member Functions
static auto	value_traits ()
	Get the traits for occupancy grid value interpretation.

Additional Inherited Members
Public Types inherited from beluga::BaseOccupancyGrid2< OccupancyGrid >
enum class	Frame

Detailed Description

Thin wrapper type for 2D nav_msgs/OccupancyGrid messages.

Constructor & Destructor Documentation

OccupancyGrid()

beluga_ros::OccupancyGrid::OccupancyGrid ( beluga_ros::msg::OccupancyGridConstSharedPtr  grid )

inlineexplicit

Constructor.

Parameters

grid	Occupancy grid message.

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

• /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/occupancy_grid.hpp