ShortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)Ī* using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors. ShortestPath (const nm::OccupancyGrid &g, const Cell &src, const Cell &dest) RemoveCloud ( Overla圜louds *overlay, LocalizedCloud::ConstPtr cloud)Įffectively subtract a cloud (which was presumably previously added), by subtracting rather than adding counts, in overlay. RayTraceOntoGrid (const nm::MapMetaData &info, const Cell &c1, const Cell &c2) MyGt (const signed char x, const signed char y)

MapToWorld (const nav_msgs::MapMetaData &info) ManhattanHeuristic (const Cell &c1, const Cell &c2) IntersectingCells (const nm::MapMetaData &info, const nm::MapMetaData &info2, const Cell &cell2) InflateObstacles (const nav_msgs::OccupancyGrid &g, double r, bool allow_unknown=false) InflateObstacles (const nm::OccupancyGrid &g, const double r, const bool allow_unknown) IndexCell (const nav_msgs::MapMetaData &info, index_t ind) Return polygon corresponding to grid bounds. GridPolygon (const nav_msgs::MapMetaData &info) GetCombinedGridInfo (const vector &grids, const double resolution) Version of combineGrids that uses the resolution of the first grid.ĬombineGrids (const std::vector &grids, double resolution)ĬontainsVertex (const nm::MapMetaData &info, const Cell &c, const gm::Polygon &poly)ĬreateCloudOverlay (const nm::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold, double max_distance, double min_pass_through)ĬreateCloudOverlay (const nav_msgs::OccupancyGrid &grid, const std::string &frame_id, double occupancy_threshold= DEFAULT_OCCUPANCY_THRESHOLD, double max_distance= DEFAULT_MAX_DISTANCE, double min_pass_through= DEFAULT_MIN_PASS_THROUGH)Ĭreate a cloud overlay object to which clouds can then be added The returned (ros message) object should only be accessed using the api below.ĭetermineOccupancy (const unsigned hit_count, const unsigned pass_through_count, const double occupancy_threshold, const double min_pass_through)ĭistance ( ResultPtr shortest_path_result, const Cell &dest)įrom result of single-source shortest paths, extract distance to some destination.ĮuclideanDistance (const gm::Point &p1, const gm::Point &p2)ĮxpandPolygon (const gm::Polygon &p, const double r)ĮxtractPath ( ResultPtr shortest_path_result, const Cell &dest)Įxtract a path from the result of single-source shortest paths. :: occupancy_grid_utils::NavigationFunction_ĪddCloud ( Overla圜louds *overlay, LocalizedCloud::ConstPtr cloud, const int inc)ĪddCloud ( Overla圜louds *overlay, LocalizedCloud::ConstPtr cloud)ĪddKnownFreePoint ( Overla圜louds *overlay, const gm::Point &p, const double r)ĪddKnownFreePoint ( Overla圜louds *overlay, const geometry_msgs::Point &p, double r)Īssert that a square centered at this point with side 2*r contains no obstacles.ĬellCenter (const nav_msgs::MapMetaData &info, const Cell &c)ĬellIndex (const nav_msgs::MapMetaData &info, const Cell &c)ĬellPolygon (const nav_msgs::MapMetaData &info, const Cell &c)ĬellsIntersect (const nm::MapMetaData &info1, const Cell &c1, const nm::MapMetaData &info2, const Cell &c2)ĬellWithinBounds (const nm::MapMetaData &info, const Cell &c)ĬombineGrids (const vector &grids, const double resolution)

Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop goals is a set such that once we've expanded all the cells in this set, we stop.

Occupancy_grid_utils Namespace Reference Namespacesīase class for exceptions from this package.

Ros occupancy grid data type