COccupancyGridMap2D.h File Reference

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CDynamicGrid.h>
#include <mrpt/slam/CMetricMap.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/maps/link_pragmas.h>
#include <mrpt/utils/safe_pointers.h>
#include <mrpt/config.h>

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Classes
struct	mrpt::slam::COccupancyGridMap2DPtr
class	mrpt::slam::COccupancyGridMap2D
	A class for storing an occupancy grid map. More...
struct	mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly
	An internal structure for storing data related to counting the new information apported by some observation. More...
struct	mrpt::slam::COccupancyGridMap2D::TEntropyInfo
	Used for returning entropy related information. More...
class	mrpt::slam::COccupancyGridMap2D::TInsertionOptions
	With this struct options are provided to the observation insertion process. More...
class	mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions
	With this struct options are provided to the observation likelihood computation process. More...
class	mrpt::slam::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::TCriticalPointsList
	The structure used to store the set of Voronoi diagram critical points. More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) 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
::mrpt::utils::CStream &	mrpt::slam::operator>> (mrpt::utils::CStream &in, COccupancyGridMap2DPtr &pObj)
bool	mrpt::slam::operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2)

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Define Documentation

#define OCCGRID_CELLTYPE_MAX   (127)

Definition at line 65 of file COccupancyGridMap2D.h.

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

#define OCCGRID_CELLTYPE_MIN   (-128)

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

[0,255] or [0,65535]

Definition at line 64 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 71 of file COccupancyGridMap2D.h.

#define OCCGRID_LOGODD_K_INV   (1.0f/OCCGRID_LOGODD_K)

Definition at line 72 of file COccupancyGridMap2D.h.

#define OCCGRID_P2LTABLE_SIZE   (128)

Definition at line 67 of file COccupancyGridMap2D.h.

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