Detailed Description

An internal class for storing the collision grid.

Definition at line 169 of file CPTG_DiffDrive_CollisionGridBased.h.

#include <mrpt/nav/tpspace/CPTG_DiffDrive_CollisionGridBased.h>

Inheritance diagram for mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid:

Public Member Functions
	CCollisionGrid (float x_min, float x_max, float y_min, float y_max, float resolution, CPTG_DiffDrive_CollisionGridBased *parent)

	~CCollisionGrid () override=default

bool	saveToFile (mrpt::serialization::CArchive *fil, const mrpt::math::CPolygon &computed_robotShape) const
	Save to file, true = OK. More...

bool	loadFromFile (mrpt::serialization::CArchive *fil, const mrpt::math::CPolygon &current_robotShape)
	Load from file, true = OK. More...

const TCollisionCell &	getTPObstacle (const float obsX, const float obsY) const
	For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides. More...

void	updateCellInfo (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)
	Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value: More...

void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TCollisionCell *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

void	clear ()
	Erase the contents of all the cells. More...

void	fill (const TCollisionCell &value)
	Fills all the cells with the same value. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TCollisionCell &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

TCollisionCell *	cellByPos (double x, double y)
	Returns a pointer to the contents of a cell given by its coordinates, or nullptr if it is out of the map extensions. More...

const TCollisionCell *	cellByPos (double x, double y) const

TCollisionCell *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions. More...

const TCollisionCell *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions. More...

size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count. More...

size_t	getSizeY () const
	Returns the vertical size of grid map in cells count. More...

double	getXMin () const
	Returns the "x" coordinate of left side of grid map. More...

double	getXMax () const
	Returns the "x" coordinate of right side of grid map. More...

double	getYMin () const
	Returns the "y" coordinate of top side of grid map. More...

double	getYMax () const
	Returns the "y" coordinate of bottom side of grid map. More...

double	getResolution () const
	Returns the resolution of the grid map. More...

int	x2idx (double x) const
	Transform a coordinate values into cell indexes. More...

int	y2idx (double y) const

int	xy2idx (double x, double y) const

void	idx2cxcy (int idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...

double	idx2x (int cx) const
	Transform a cell index into a coordinate value of the cell central point. More...

double	idx2y (int cy) const

void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix. More...

virtual float	cell2float (const TCollisionCell &) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...

bool	saveToTextFile (const std::string &fileName) const
	Saves a float representation of the grid (via "cell2float()") to a text file. More...

Protected Member Functions
std::vector< TCollisionCell > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (STREAM &out) const

void	dyngridcommon_readFromStream (STREAM &in, bool cast_from_float=false)

Protected Attributes
std::vector< TCollisionCell >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_resolution

size_t	m_size_x

size_t	m_size_y

Private Attributes
CPTG_DiffDrive_CollisionGridBased const *	m_parent

Constructor & Destructor Documentation

◆ CCollisionGrid()

mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::CCollisionGrid	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution,
		CPTG_DiffDrive_CollisionGridBased *	parent
	)

inline

Definition at line 175 of file CPTG_DiffDrive_CollisionGridBased.h.

◆ ~CCollisionGrid()

mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::~CCollisionGrid ( )

overridedefault

Member Function Documentation

◆ cell2float()

virtual float mrpt::containers::CDynamicGrid< TCollisionCell >::cell2float ( const TCollisionCell & ) const

inlinevirtualinherited

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 310 of file CDynamicGrid.h.

◆ cellByIndex() [1/2]

TCollisionCell * mrpt::containers::CDynamicGrid< TCollisionCell >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions.

Definition at line 222 of file CDynamicGrid.h.

◆ cellByIndex() [2/2]

const TCollisionCell * mrpt::containers::CDynamicGrid< TCollisionCell >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions.

Definition at line 233 of file CDynamicGrid.h.

◆ cellByPos() [1/2]

TCollisionCell * mrpt::containers::CDynamicGrid< TCollisionCell >::cellByPos	(	double	x,
		double	y
	)

inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 201 of file CDynamicGrid.h.

Referenced by getTPObstacle().

◆ cellByPos() [2/2]

const TCollisionCell * mrpt::containers::CDynamicGrid< TCollisionCell >::cellByPos	(	double	x,
		double	y
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 210 of file CDynamicGrid.h.

◆ clear()

void mrpt::containers::CDynamicGrid< TCollisionCell >::clear ( )

inlineinherited

Erase the contents of all the cells.

Definition at line 101 of file CDynamicGrid.h.

◆ dyngridcommon_readFromStream()

void mrpt::containers::CDynamicGrid< TCollisionCell >::dyngridcommon_readFromStream	(	STREAM &	in,
		bool	cast_from_float = `false`
	)

inlineprotectedinherited

Definition at line 342 of file CDynamicGrid.h.

◆ dyngridcommon_writeToStream()

void mrpt::containers::CDynamicGrid< TCollisionCell >::dyngridcommon_writeToStream ( STREAM & out ) const

inlineprotectedinherited

Definition at line 334 of file CDynamicGrid.h.

◆ fill()

void mrpt::containers::CDynamicGrid< TCollisionCell >::fill ( const TCollisionCell & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 109 of file CDynamicGrid.h.

◆ getAsMatrix()

void mrpt::containers::CDynamicGrid< TCollisionCell >::getAsMatrix ( MAT & m ) const

inlineinherited

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a mrpt::math::CMatrixDouble.

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 299 of file CDynamicGrid.h.

◆ getResolution()

double mrpt::containers::CDynamicGrid< TCollisionCell >::getResolution ( ) const

inlineinherited

Returns the resolution of the grid map.

Definition at line 254 of file CDynamicGrid.h.

◆ getSizeX()

size_t mrpt::containers::CDynamicGrid< TCollisionCell >::getSizeX ( ) const

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 242 of file CDynamicGrid.h.

◆ getSizeY()

size_t mrpt::containers::CDynamicGrid< TCollisionCell >::getSizeY ( ) const

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 244 of file CDynamicGrid.h.

◆ getTPObstacle()

const CPTG_DiffDrive_CollisionGridBased::TCollisionCell & CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::getTPObstacle	(	const float	obsX,
		const float	obsY
	)		const

For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.

Definition at line 287 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::containers::CDynamicGrid< TCollisionCell >::cellByPos().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacle(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle().

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◆ getXMax()

double mrpt::containers::CDynamicGrid< TCollisionCell >::getXMax ( ) const

inlineinherited

Returns the "x" coordinate of right side of grid map.

Definition at line 248 of file CDynamicGrid.h.

◆ getXMin()

double mrpt::containers::CDynamicGrid< TCollisionCell >::getXMin ( ) const

inlineinherited

Returns the "x" coordinate of left side of grid map.

Definition at line 246 of file CDynamicGrid.h.

◆ getYMax()

double mrpt::containers::CDynamicGrid< TCollisionCell >::getYMax ( ) const

inlineinherited

Returns the "y" coordinate of bottom side of grid map.

Definition at line 252 of file CDynamicGrid.h.

◆ getYMin()

double mrpt::containers::CDynamicGrid< TCollisionCell >::getYMin ( ) const

inlineinherited

Returns the "y" coordinate of top side of grid map.

Definition at line 250 of file CDynamicGrid.h.

◆ idx2cxcy()

void mrpt::containers::CDynamicGrid< TCollisionCell >::idx2cxcy	(	int	idx,
		int &	cx,
		int &	cy
	)		const

inlineinherited

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 271 of file CDynamicGrid.h.

◆ idx2x()

double mrpt::containers::CDynamicGrid< TCollisionCell >::idx2x ( int cx ) const

inlineinherited

Transform a cell index into a coordinate value of the cell central point.

Definition at line 279 of file CDynamicGrid.h.

◆ idx2y()

double mrpt::containers::CDynamicGrid< TCollisionCell >::idx2y ( int cy ) const

inlineinherited

Definition at line 283 of file CDynamicGrid.h.

◆ loadFromFile()

bool CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::loadFromFile	(	mrpt::serialization::CArchive *	fil,
		const mrpt::math::CPolygon &	current_robotShape
	)

Load from file, true = OK.

Definition at line 426 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References COLGRID_FILE_MAGIC, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution, READ_DOUBLE_CHECK_IT_MATCHES_STORED, READ_FLOAT_CHECK_IT_MATCHES_STORED, and READ_UINT16_CHECK_IT_MATCHES_STORED.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadColGridsFromFile().

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◆ m_map_castaway_const()

std::vector<TCollisionCell >& mrpt::containers::CDynamicGrid< TCollisionCell >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

◆ resize()

virtual void mrpt::containers::CDynamicGrid< TCollisionCell >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const TCollisionCell &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 117 of file CDynamicGrid.h.

◆ saveToFile()

bool CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::saveToFile	(	mrpt::serialization::CArchive *	fil,
		const mrpt::math::CPolygon &	computed_robotShape
	)		const

Save to file, true = OK.

Definition at line 380 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References COLGRID_FILE_MAGIC, mrpt::d2f(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveColGridsToFile().

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◆ saveToTextFile()

bool mrpt::containers::CDynamicGrid< TCollisionCell >::saveToTextFile ( const std::string & fileName ) const

inlineinherited

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns: false on error

Definition at line 313 of file CDynamicGrid.h.

◆ setSize()

void mrpt::containers::CDynamicGrid< TCollisionCell >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const TCollisionCell *	fill_value = `nullptr`
	)

inlineinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing.

See also: resize, fill

Definition at line 74 of file CDynamicGrid.h.

◆ updateCellInfo()

void CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::updateCellInfo	(	const unsigned int	icx,
		const unsigned int	icy,
		const uint16_t	k,
		const float	dist
	)

Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:

Parameters

cellInfo	The index of the cell
k	The path index (alpha discreet value)
d	The distance (in TP-Space, range 0..1) to collision.

Definition at line 299 of file CPTG_DiffDrive_CollisionGridBased.cpp.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ x2idx()

int mrpt::containers::CDynamicGrid< TCollisionCell >::x2idx ( double x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 256 of file CDynamicGrid.h.

◆ xy2idx()

int mrpt::containers::CDynamicGrid< TCollisionCell >::xy2idx	(	double	x,
		double	y
	)		const

inlineinherited

Definition at line 264 of file CDynamicGrid.h.

◆ y2idx()

int mrpt::containers::CDynamicGrid< TCollisionCell >::y2idx ( double y ) const

inlineinherited

Definition at line 260 of file CDynamicGrid.h.

Member Data Documentation

◆ m_map

std::vector<TCollisionCell > mrpt::containers::CDynamicGrid< TCollisionCell >::m_map

protectedinherited

The cells.

Definition at line 42 of file CDynamicGrid.h.

◆ m_parent

CPTG_DiffDrive_CollisionGridBased const* mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::m_parent

private

Definition at line 172 of file CPTG_DiffDrive_CollisionGridBased.h.

◆ m_resolution

double mrpt::containers::CDynamicGrid< TCollisionCell >::m_resolution

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

◆ m_size_x

size_t mrpt::containers::CDynamicGrid< TCollisionCell >::m_size_x

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

◆ m_size_y

size_t mrpt::containers::CDynamicGrid< TCollisionCell >::m_size_y

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

◆ m_x_max

double mrpt::containers::CDynamicGrid< TCollisionCell >::m_x_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

◆ m_x_min

double mrpt::containers::CDynamicGrid< TCollisionCell >::m_x_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

◆ m_y_max

double mrpt::containers::CDynamicGrid< TCollisionCell >::m_y_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

◆ m_y_min

double mrpt::containers::CDynamicGrid< TCollisionCell >::m_y_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ CCollisionGrid()

◆ ~CCollisionGrid()

Member Function Documentation

◆ cell2float()

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ fill()

◆ getAsMatrix()

◆ getResolution()

◆ getSizeX()

◆ getSizeY()

◆ getTPObstacle()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ idx2cxcy()

◆ idx2x()

◆ idx2y()

◆ loadFromFile()

◆ m_map_castaway_const()

◆ resize()

◆ saveToFile()

◆ saveToTextFile()

◆ setSize()

◆ updateCellInfo()

◆ x2idx()

◆ xy2idx()

◆ y2idx()

Member Data Documentation

◆ m_map

◆ m_parent

◆ m_resolution

◆ m_size_x

◆ m_size_y

◆ m_x_max

◆ m_x_min

◆ m_y_max

◆ m_y_min