JPS::MapUtil< Dim > Class Template Reference

#include <map_util.h>

Public Member Functions
	MapUtil ()
	Simple constructor.
Tmap	getMap ()
	Get map data.
decimal_t	getRes ()
	Get resolution.
Veci< Dim >	getDim ()
	Get dimensions.
Vecf< Dim >	getOrigin ()
	Get origin.
int	getIndex (const Veci< Dim > &pn)
	Get index of a cell.
bool	isOutsideXYZ (const Veci< Dim > &n, int i)
	Check if the given cell is outside of the map in i-the dimension.
bool	isFree (int idx)
	Check if the cell is free by index.
bool	isUnknown (int idx)
	Check if the cell is unknown by index.
bool	isOccupied (int idx)
	Check if the cell is occupied by index.
bool	isOutside (const Veci< Dim > &pn)
	Check if the cell is outside by coordinate.
bool	isFree (const Veci< Dim > &pn)
	Check if the given cell is free by coordinate.
bool	isOccupied (const Veci< Dim > &pn)
	Check if the given cell is occupied by coordinate.
bool	isUnknown (const Veci< Dim > &pn)
	Check if the given cell is unknown by coordinate.
void	setMap (const Vecf< Dim > &ori, const Veci< Dim > &dim, const Tmap &map, decimal_t res)
	Set map. More...
void	info ()
	Print basic information about the util.
Veci< Dim >	floatToInt (const Vecf< Dim > &pt)
	Float position to discrete cell coordinate.
Vecf< Dim >	intToFloat (const Veci< Dim > &pn)
	Discrete cell coordinate to float position.
vec_Veci< Dim >	rayTrace (const Vecf< Dim > &pt1, const Vecf< Dim > &pt2)
	Raytrace from float point pt1 to pt2.
bool	isBlocked (const Vecf< Dim > &p1, const Vecf< Dim > &p2, int8_t val=100)
	Check if the ray from p1 to p2 is occluded.
vec_Vecf< Dim >	getCloud ()
	Get occupied voxels.
vec_Vecf< Dim >	getFreeCloud ()
	Get free voxels.
vec_Vecf< Dim >	getUnknownCloud ()
	Get unknown voxels.
void	dilate (const vec_Veci< Dim > &dilate_neighbor)
	Dilate occupied cells.
void	freeUnknown ()
	Free unknown voxels.

Public Attributes
Tmap	map_
	Map entity.

Protected Attributes
decimal_t	res_
	Resolution.
Vecf< Dim >	origin_d_
	Origin, float type.
Veci< Dim >	dim_
	Dimension, int type.
int8_t	val_occ = 100
	Assume occupied cell has value 100.
int8_t	val_free = 0
	Assume free cell has value 0.
int8_t	val_unknown = -1
	Assume unknown cell has value -1.

Detailed Description

template<int Dim>
class JPS::MapUtil< Dim >

The map util class for collision checking

Parameters

Dim	is the dimension of the workspace

Member Function Documentation

setMap()

template<int Dim>

void JPS::MapUtil< Dim >::setMap ( const Vecf< Dim > &  ori, const Veci< Dim > &  dim, const Tmap &  map, decimal_t  res  )

inline

Set map.

Parameters

ori	origin position
dim	number of cells in each dimension
map	array of cell values
res	map resolution

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

• include/jps_collision/map_util.h