#include <wmGrid3D.h>

Public Member Functions | |
| CwmGrid3D () | |
| ~CwmGrid3D () | |
| wmStatus | setSensorPosition (boost::numeric::ublas::matrix< float > inSensorPosition) |
| Set Sensor position and orientation according to a 4x4 matrix [m]. | |
| wmStatus | getSensorPosition (boost::numeric::ublas::matrix< float > outSensorPosition) |
| Get Sensor position and orientation according to a 4x4 matrix. | |
| wmStatus | updateMap () |
| Update map regarding the last rangemap which was set. | |
| grid * | xyz2grid (double x, double y, double z) |
| Returns the pointer to the data stored at (x,y,z). | |
| wmStatus | grid2xyz (int i, double &x, double &y, double &z) |
| Returns the position of the grid [i]. | |
| grid * | xyz2grid (int x, int y, int z) |
| Returns the pointer to the data stored at (x,y,z). | |
| wmStatus | allocateMap (double xstart, double ystart, double zstart, double xend, double yend, double zend) |
| Allocate the memory needed for the map. | |
| wmStatus | setFreeBox (double xstart, double ystart, double zstart, double xend, double yend, double zend) |
| Allocate the defult free zone in the environmet (a free zone which is freezed to free in all update). | |
| wmStatus | makeBoxFree (double xstart, double ystart, double zstart, double xend, double yend, double zend) |
| Change the status of a valume of the envirenment to free. | |
| wmStatus | makeBoxSolid (double xstart, double ystart, double zstart, double xend, double yend, double zend) |
| Change the status of a valume of the envirenment to Solid. | |
| wmStatus | clearMap () |
| Reset the alocated map to Unknown. | |
| wmStatus | setResolution (double inResolution) |
| Set the size of each grid [m]. | |
| wmStatus | setSensitivity (unsigned int inSensitivity) |
| Set the sensetivity of update engin. | |
| double | getResolution () |
| Returns grid size. | |
| box_area | getMapVolume () |
| Returns the geometry of map in a vector as (xstart, ystart, zstart, xend, yend, zend). | |
| wmStatus | setRangeMap (boost::numeric::ublas::matrix< float > inRangeMap) |
| Set the information regarding 3D position of the pixel in image. | |
| int | getMapXN () |
| Returns the number of grid along x. | |
| int | getMapYN () |
| Returns the number of grid along y. | |
| int | getMapZN () |
| Returns the number of grid along z. | |
| grid * | getGridMap () |
| Returns the number of grid. | |
| wmStatus | exportOccupancyMap (string fileName) |
| Export the result of calculation (array of grids) in a txt file for graphic illustration. | |
| wmStatus | exportVRML (string modelFileName, string solidFileName, string unknownFileName, int exportMode) |
| Export vrml file of the 3D model. | |
| wmStatus | importMap (string fileName) |
| Import a 3D model. | |
| wmStatus | reportCurrentStatus () |
| Reports all parametere regarding the last update. | |
| wmStatus | setCameraParameters (double inWidthAngle, double inHeightAngle, double inObservableDistance) |
| Sets camera parameter. | |
| double | getObservableDistance () |
| Get observable distance of camera. | |
| wmStatus | refreshMap () |
| Filter the noise in map. | |
| double | getVisibility (double inX, double inY, double inTheta, double goalX, double goalY, double goalTheta) |
| Return the maximum number of unknown voxel which can be updated based on the robot config. | |
| wmStatus | setCoveringAngle (double inHeightAngleMin, double inHeightAngleMax, double inWidthAngleMin, double inWidthAngleMax) |
| Set the maximum covering angle in a robot bounding box configuration. | |
| wmStatus | setGridState (std::vector< char > inStateVector) |
| Set the state of each voxel in map by entering an state vector:0-Free, 1-Occupied, 2-Unknown. | |
| wmStatus | setRobotBoxPos (double inX, double inY, double inTheta) |
| Set the robot position. | |
| wmStatus | setRobotBoxFree () |
| Set the robot bounding box as Free. | |
Protected Member Functions | |
| double | getGridParameter (double inMean, double inVariance, double inDistance, int k) |
| Return the odd by getting the distance from a 3D observed point. | |
Protected Attributes | |
| boost::numeric::ublas::matrix< float > | attSensorPosition |
| Sensor's position. | |
| int | attMapXN |
| Number of grid along X, Y and Z. | |
| int | attMapYN |
| int | attMapZN |
| box_area | attMapArea |
| Geometric information of Map. | |
| box_area | attFreeBox |
| Geometric information of free volume of Map (Initial position of robot). | |
| grid * | attGridMap |
| The occupancy grid map. | |
| double | attResolution |
| Resolution of the map. | |
| unsigned int | attSensitivity |
| This parametr is the minimum number of point that should be detected in a pixel Volume to be considered as a solid object. | |
| boost::numeric::ublas::matrix< float > | attRangeMap |
| vector that includes the Informatin of 3D position of pixel in image. | |
| double | attWidthAngle |
| Camera Parametr:the visible angles of camera . | |
| double | attHeightAngle |
| double | attObservableDistance |
| the acceptable distance for filtering the valid information of 3D position | |
| double | attHeightAngleMin |
| Camera Parameters for calculating the visibility. | |
| double | attHeightAngleMax |
| double | attWidthAngleMin |
| double | attWidthAngleMax |
| double | attRobotPosX |
| Robot position in each update. | |
| double | attRobotPosY |
| double | attRobotPosTheta |
| CwmGrid3D::CwmGrid3D | ( | ) |
| CwmGrid3D::~CwmGrid3D | ( | ) |
| wmStatus CwmGrid3D::allocateMap | ( | double | xstart, |
| double | ystart, | ||
| double | zstart, | ||
| double | xend, | ||
| double | yend, | ||
| double | zend | ||
| ) |
Allocate the memory needed for the map.
| wmStatus CwmGrid3D::clearMap | ( | ) |
Reset the alocated map to Unknown.
| wmStatus CwmGrid3D::exportOccupancyMap | ( | string | fileName | ) |
Export the result of calculation (array of grids) in a txt file for graphic illustration.
| wmStatus CwmGrid3D::exportVRML | ( | string | modelFileName, |
| string | solidFileName, | ||
| string | unknownFileName, | ||
| int | exportMode | ||
| ) |
Export vrml file of the 3D model.
by choosing exportMode equal 1, VRML of solid and unknown part are generated seperately.
| grid * CwmGrid3D::getGridMap | ( | ) |
Returns the number of grid.
|
protected |
Return the odd by getting the distance from a 3D observed point.
| box_area CwmGrid3D::getMapVolume | ( | ) |
Returns the geometry of map in a vector as (xstart, ystart, zstart, xend, yend, zend).
| int CwmGrid3D::getMapXN | ( | ) |
Returns the number of grid along x.
| int CwmGrid3D::getMapYN | ( | ) |
Returns the number of grid along y.
| int CwmGrid3D::getMapZN | ( | ) |
Returns the number of grid along z.
| double CwmGrid3D::getObservableDistance | ( | ) |
Get observable distance of camera.
| double CwmGrid3D::getResolution | ( | ) |
Returns grid size.
| wmStatus CwmGrid3D::getSensorPosition | ( | boost::numeric::ublas::matrix< float > | outSensorPosition | ) |
Get Sensor position and orientation according to a 4x4 matrix.
| double CwmGrid3D::getVisibility | ( | double | inX, |
| double | inY, | ||
| double | inTheta, | ||
| double | goalX, | ||
| double | goalY, | ||
| double | goalTheta | ||
| ) |
Return the maximum number of unknown voxel which can be updated based on the robot config.
| wmStatus CwmGrid3D::grid2xyz | ( | int | i, |
| double & | x, | ||
| double & | y, | ||
| double & | z | ||
| ) |
Returns the position of the grid [i].
| wmStatus CwmGrid3D::importMap | ( | string | fileName | ) |
Import a 3D model.
| wmStatus CwmGrid3D::makeBoxFree | ( | double | xstart, |
| double | ystart, | ||
| double | zstart, | ||
| double | xend, | ||
| double | yend, | ||
| double | zend | ||
| ) |
Change the status of a valume of the envirenment to free.
| wmStatus CwmGrid3D::makeBoxSolid | ( | double | xstart, |
| double | ystart, | ||
| double | zstart, | ||
| double | xend, | ||
| double | yend, | ||
| double | zend | ||
| ) |
Change the status of a valume of the envirenment to Solid.
| wmStatus CwmGrid3D::refreshMap | ( | ) |
Filter the noise in map.
| wmStatus CwmGrid3D::reportCurrentStatus | ( | ) |
Reports all parametere regarding the last update.
| wmStatus CwmGrid3D::setCameraParameters | ( | double | inWidthAngle, |
| double | inHeightAngle, | ||
| double | inObservableDistance | ||
| ) |
Sets camera parameter.
| wmStatus CwmGrid3D::setCoveringAngle | ( | double | inHeightAngleMin, |
| double | inHeightAngleMax, | ||
| double | inWidthAngleMin, | ||
| double | inWidthAngleMax | ||
| ) |
Set the maximum covering angle in a robot bounding box configuration.
| wmStatus CwmGrid3D::setFreeBox | ( | double | xstart, |
| double | ystart, | ||
| double | zstart, | ||
| double | xend, | ||
| double | yend, | ||
| double | zend | ||
| ) |
Allocate the defult free zone in the environmet (a free zone which is freezed to free in all update).
| wmStatus CwmGrid3D::setGridState | ( | std::vector< char > | inStateVector | ) |
Set the state of each voxel in map by entering an state vector:0-Free, 1-Occupied, 2-Unknown.
| wmStatus CwmGrid3D::setRangeMap | ( | boost::numeric::ublas::matrix< float > | inRangeMap | ) |
Set the information regarding 3D position of the pixel in image.
| wmStatus CwmGrid3D::setResolution | ( | double | inResolution | ) |
Set the size of each grid [m].
| wmStatus CwmGrid3D::setRobotBoxFree | ( | ) |
Set the robot bounding box as Free.
| wmStatus CwmGrid3D::setRobotBoxPos | ( | double | inX, |
| double | inY, | ||
| double | inTheta | ||
| ) |
Set the robot position.
| wmStatus CwmGrid3D::setSensitivity | ( | unsigned int | inSensitivity | ) |
Set the sensetivity of update engin.
| wmStatus CwmGrid3D::setSensorPosition | ( | boost::numeric::ublas::matrix< float > | inSensorPosition | ) |
Set Sensor position and orientation according to a 4x4 matrix [m].
| wmStatus CwmGrid3D::updateMap | ( | ) |
Update map regarding the last rangemap which was set.
| grid * CwmGrid3D::xyz2grid | ( | double | x, |
| double | y, | ||
| double | z | ||
| ) |
Returns the pointer to the data stored at (x,y,z).
| grid * CwmGrid3D::xyz2grid | ( | int | x, |
| int | y, | ||
| int | z | ||
| ) |
Returns the pointer to the data stored at (x,y,z).
|
protected |
Geometric information of free volume of Map (Initial position of robot).
|
protected |
The occupancy grid map.
|
protected |
|
protected |
|
protected |
Camera Parameters for calculating the visibility.
|
protected |
Geometric information of Map.
|
protected |
Number of grid along X, Y and Z.
|
protected |
|
protected |
|
protected |
the acceptable distance for filtering the valid information of 3D position
|
protected |
vector that includes the Informatin of 3D position of pixel in image.
|
protected |
Resolution of the map.
|
protected |
|
protected |
Robot position in each update.
|
protected |
|
protected |
This parametr is the minimum number of point that should be detected in a pixel Volume to be considered as a solid object.
|
protected |
Sensor's position.
|
protected |
Camera Parametr:the visible angles of camera .
|
protected |
|
protected |