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COccupancyGridMap2D.h File Reference

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CMRPTImage.h>
#include <mrpt/utils/CMRPTImageFloat.h>
#include <mrpt/slam/CMetricMap.h>
#include <mrpt/slam/CLandmarksMap.h>
#include <mrpt/utils/safe_pointers.h>
#include <mrpt/config.h>

Go to the source code of this file.


Classes

class  mrpt::slam::COccupancyGridMap2D
 COccupancyGridMap2D is a class for storing an occupancy grid map. More...
struct  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly
 An internal structure for storing data related to counting the new information apported by some observation. More...
struct  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TEntropyInfo
 Used for returning entropy related information. More...
class  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
class  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TLikelihoodOptions
 With this struct options are provided to the observation likelihood computation process. More...
class  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TLikelihoodOutput
 Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...
struct  mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TCriticalPointsList
 The structure used to store the set of Voronoi diagram critical points. More...

Namespaces

namespace  mrpt
 The main namespace for all the Mobile Robot Programming Toolkit (MRPT) C++ libraries.
namespace  mrpt::poses
 Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.
namespace  mrpt::slam
 This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.

Defines

#define OCCGRID_CELLTYPE_MIN   (-128)
 The min/max values of the integer cell type, eg.
#define OCCGRID_CELLTYPE_MAX   (127)
#define OCCGRID_P2LTABLE_SIZE   (128)
#define OCCGRID_LOGODD_K   (16)
#define OCCGRID_LOGODD_K_INV   (1.0f/OCCGRID_LOGODD_K)

Functions

bool mrpt::slam::operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2)


Define Documentation

#define OCCGRID_CELLTYPE_MAX   (127)

#define OCCGRID_CELLTYPE_MIN   (-128)

The min/max values of the integer cell type, eg.

[0,255] or [0,65535]

Definition at line 62 of file COccupancyGridMap2D.h.

Referenced by mrpt::slam::COccupancyGridMap2D::l2p(), mrpt::slam::COccupancyGridMap2D::l2p_255(), and mrpt::slam::COccupancyGridMap2D::updateCell_fast_occupied().

#define OCCGRID_LOGODD_K   (16)

Definition at line 69 of file COccupancyGridMap2D.h.

#define OCCGRID_LOGODD_K_INV   (1.0f/OCCGRID_LOGODD_K)

Definition at line 70 of file COccupancyGridMap2D.h.

#define OCCGRID_P2LTABLE_SIZE   (128)

Definition at line 65 of file COccupancyGridMap2D.h.

Referenced by mrpt::slam::COccupancyGridMap2D::p2l().




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