#include <yarp/dev/MapGrid2D.h>

Inheritance diagram for yarp::dev::Nav2D::MapGrid2D:

Public Types
enum	map_flags { MAP_CELL_FREE = 0, MAP_CELL_KEEP_OUT = 1, MAP_CELL_TEMPORARY_OBSTACLE = 2, MAP_CELL_ENLARGED_OBSTACLE = 3, MAP_CELL_WALL = 4, MAP_CELL_UNKNOWN = 5 }

typedef yarp::sig::PixelMono	CellData

Public Member Functions
	MapGrid2D ()

virtual	~MapGrid2D ()

bool	isWall (XYCell cell) const
	Checks if a specific cell of the map contains a wall. More...

bool	isFree (XYCell cell) const
	Checks if a specific cell of the map is free, i.e. More...

bool	isNotFree (XYCell cell) const
	Checks if a specific cell of the map contains is not free. More...

bool	isKeepOut (XYCell cell) const
	Checks if a specific cell of the map is marked as keep-out. More...

bool	getMapFlag (XYCell cell, map_flags &flag) const
	Get the flag of a specific cell of the map. More...

bool	setMapFlag (XYCell cell, map_flags flag)
	Set the flag of a specific cell of the map. More...

bool	setOccupancyData (XYCell cell, double occupancy)
	Set the occupancy data of a specific cell of the map. More...

bool	getOccupancyData (XYCell cell, double &occupancy) const
	Retrieves the occupancy data of a specific cell of the map. More...

bool	setMapImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)

bool	getMapImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) const

bool	setOccupancyGrid (yarp::sig::ImageOf< yarp::sig::PixelMono > &image)

bool	getOccupancyGrid (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) const

bool	setOrigin (double x, double y, double theta)
	Sets the origin of the map reference frame (according to ROS convention) More...

void	getOrigin (double &x, double &y, double &theta) const
	Retrieves the origin of the map reference frame (according to ROS convention) More...

bool	setResolution (double resolution)
	Sets the resolution of the map, i.e. More...

void	getResolution (double &resolution) const
	Retrieves the resolution of the map, i.e. More...

bool	setSize_in_meters (double x, double y)
	Sets the size of the map in meters, according to the current map resolution. More...

bool	setSize_in_cells (size_t x, size_t y)
	Sets the size of the map in cells. More...

void	getSize_in_meters (double &x, double &y) const
	Returns the size of the map in meters, according to the current map resolution. More...

void	getSize_in_cells (size_t &x, size_t &y) const
	Returns the size of the map in cells. More...

size_t	width () const
	Retrieves the map width, expressed in cells. More...

size_t	height () const
	Retrieves the map height, expressed in cells. More...

bool	setMapName (std::string map_name)
	Sets the map name. More...

std::string	getMapName () const
	Retrieves the map name. More...

bool	crop (int left, int top, int right, int bottom)
	Modifies the map, cropping pixels at the boundaries. More...

bool	isIdenticalTo (const MapGrid2D &otherMap) const
	Checks is two maps are identical. More...

bool	enlargeObstacles (double size)
	Performs the obstacle enlargement operation. More...

bool	loadFromFile (std::string map_filename)
	Loads a yarp map file from disk. More...

bool	saveToFile (std::string map_filename) const
	Store a yarp map file to disk. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

bool	write (yarp::os::ConnectionWriter &connection) const override
	Write vector to a connection. More...

Public Member Functions inherited from yarp::os::Portable
virtual Type	getType () const

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PortWriter
virtual	~PortWriter ()
	Destructor. More...

virtual void	onCompletion () const
	This is called when the port has finished all writing operations. More...

virtual void	onCommencement () const
	This is called when the port is about to begin writing operations. More...

virtual yarp::os::Type	getWriteType () const

Public Member Functions inherited from yarp::dev::Nav2D::MapGrid2DInfo
	MapGrid2DInfo ()

XYWorld	cell2World (XYCell cell) const

yarp::dev::Nav2D::Map2DLocation	toLocation (XYCell cell) const

XYCell	toXYCell (yarp::dev::Nav2D::Map2DLocation loc) const

XYCell	world2Cell (XYWorld world) const

XYCell	world2Cell_unsafeFast (XYWorld world) const

yarp::dev::Nav2D::Map2DLocation	toLocation (XYWorld cell) const

XYWorld	toXYWorld (yarp::dev::Nav2D::Map2DLocation loc) const

bool	isInsideMap (XYCell cell) const
	Checks if a cell is inside the map. More...

bool	isInsideMap (XYWorld world) const
	Checks if a world coordinate is inside the map. More...

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Portable
static bool	copyPortable (const PortWriter &writer, PortReader &reader)
	Copy one portable to another, via writing and reading. More...

Public Attributes inherited from yarp::dev::Nav2D::MapGrid2DInfo
std::string	m_map_name

double	m_resolution
	meters/pixel More...

MapGrid2DOrigin	m_origin
	pose of the map frame w.r.t. the bottom left corner of the map image More...

size_t	m_width
	cells More...

size_t	m_height
	cells More...

Detailed Description

Definition at line 30 of file MapGrid2D.h.

Member Typedef Documentation

◆ CellData

typedef yarp::sig::PixelMono yarp::dev::Nav2D::MapGrid2D::CellData

Definition at line 34 of file MapGrid2D.h.

Member Enumeration Documentation

◆ map_flags

enum yarp::dev::Nav2D::MapGrid2D::map_flags

Enumerator
MAP_CELL_FREE
MAP_CELL_KEEP_OUT
MAP_CELL_TEMPORARY_OBSTACLE
MAP_CELL_ENLARGED_OBSTACLE
MAP_CELL_WALL
MAP_CELL_UNKNOWN

Definition at line 38 of file MapGrid2D.h.

Constructor & Destructor Documentation

◆ MapGrid2D()

MapGrid2D::MapGrid2D ( )

Definition at line 69 of file MapGrid2D.cpp.

◆ ~MapGrid2D()

MapGrid2D::~MapGrid2D ( )

virtualdefault

Member Function Documentation

◆ crop()

bool MapGrid2D::crop	(	int	left,
		int	top,
		int	right,
		int	bottom
	)

Modifies the map, cropping pixels at the boundaries.

Parameters

left,top,right,bottom the corners of the map area to keep (expressed in pixel coordinates). If the value is negative, all unknown pixels are removed until a significative pixel is found.

Returns: true if the operation is performed successfully (the input parameters are valid), false otherwise.

Definition at line 614 of file MapGrid2D.cpp.

◆ enlargeObstacles()

bool MapGrid2D::enlargeObstacles ( double size )

Performs the obstacle enlargement operation.

It's useful to set size to a value equal or larger to the radius of the robot bounding box. In this way a navigation algorithm can easily check obstacle collision by comparing the location of the center of the robot with cell value (free/occupied etc)

Parameters

size	the size of the enlargement, in meters. If size>0 the requested enlargement is performed. If the function is called multiple times, the enlargement sums up. If size <= 0 the enlargement stored in the map is cleaned up.

Returns: true always.

Definition at line 180 of file MapGrid2D.cpp.

◆ getMapFlag()

bool MapGrid2D::getMapFlag	(	XYCell	cell,
		map_flags &	flag
	)		const

Get the flag of a specific cell of the map.

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 973 of file MapGrid2D.cpp.

◆ getMapImage()

bool MapGrid2D::getMapImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image ) const

Definition at line 147 of file MapGrid2D.cpp.

◆ getMapName()

std::string MapGrid2D::getMapName ( ) const

Retrieves the map name.

Returns: the map_name.

Definition at line 911 of file MapGrid2D.cpp.

◆ getOccupancyData()

bool MapGrid2D::getOccupancyData	(	XYCell	cell,
		double &	occupancy
	)		const

Retrieves the occupancy data of a specific cell of the map.

Parameters

occupancy represents the probability (0-100) of the cell of being occupied by a wall/obstacle etc.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 995 of file MapGrid2D.cpp.

◆ getOccupancyGrid()

bool MapGrid2D::getOccupancyGrid ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image ) const

Definition at line 1025 of file MapGrid2D.cpp.

◆ getOrigin()

void MapGrid2D::getOrigin	(	double &	x,
		double &	y,
		double &	theta
	)		const

Retrieves the origin of the map reference frame (according to ROS convention)

Parameters

x,y,theta is the pose of the origin, expressed in [m], [deg] and referred to the bottom-left corner of the map, pointing outwards.

Definition at line 877 of file MapGrid2D.cpp.

◆ getResolution()

void MapGrid2D::getResolution ( double & resolution ) const

Retrieves the resolution of the map, i.e.

the conversion factor which represents the metric size of a map cell.

Parameters

resolution the map resolution, expressed in [m/cell]. e.g. resolution=0.05 means that each cell of the map represent 5cm of the real world.

Definition at line 895 of file MapGrid2D.cpp.

◆ getSize_in_cells()

void MapGrid2D::getSize_in_cells	(	size_t &	x,
		size_t &	y
	)		const

Returns the size of the map in cells.

Parameters

x,y	is the map size in cells.

Definition at line 956 of file MapGrid2D.cpp.

◆ getSize_in_meters()

void MapGrid2D::getSize_in_meters	(	double &	x,
		double &	y
	)		const

Returns the size of the map in meters, according to the current map resolution.

Parameters

x,y	is the map size in meters.

Definition at line 950 of file MapGrid2D.cpp.

◆ height()

size_t MapGrid2D::height ( ) const

Retrieves the map height, expressed in cells.

Returns: the map height.

Definition at line 137 of file MapGrid2D.cpp.

◆ isFree()

bool MapGrid2D::isFree ( XYCell cell ) const

Checks if a specific cell of the map is free, i.e.

the robot can freely pass through the cell

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 104 of file MapGrid2D.cpp.

◆ isIdenticalTo()

bool MapGrid2D::isIdenticalTo ( const MapGrid2D & otherMap ) const

Checks is two maps are identical.

Returns: true if all the internal data of the maps are identical, false otherwise.

Definition at line 55 of file MapGrid2D.cpp.

◆ isKeepOut()

bool MapGrid2D::isKeepOut ( XYCell cell ) const

Checks if a specific cell of the map is marked as keep-out.

User can set a cell as keep-out to prevent a robot to pass through it, even if no obstacles are present in the path.

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 115 of file MapGrid2D.cpp.

◆ isNotFree()

bool MapGrid2D::isNotFree ( XYCell cell ) const

Checks if a specific cell of the map contains is not free.

It may be occupied by a wall, an obstacle, a keep-out area etc.

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 92 of file MapGrid2D.cpp.

◆ isWall()

bool MapGrid2D::isWall ( XYCell cell ) const

Checks if a specific cell of the map contains a wall.

A robot cannot pass through a cell occupied by a wall.

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 125 of file MapGrid2D.cpp.

◆ loadFromFile()

bool MapGrid2D::loadFromFile ( std::string map_filename )

Loads a yarp map file from disk.

File must have .map extension. param map_filename is the full path to the map file.

Returns: true if load was successful, false otherwise.

Definition at line 512 of file MapGrid2D.cpp.

◆ read()

bool MapGrid2D::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::Portable.

Definition at line 768 of file MapGrid2D.cpp.

◆ saveToFile()

bool MapGrid2D::saveToFile ( std::string map_filename ) const

Store a yarp map file to disk.

File must have .map extension. param map_filename is the full path to the map file.

Returns: true if load was successful, false otherwise.

Definition at line 709 of file MapGrid2D.cpp.

◆ setMapFlag()

bool MapGrid2D::setMapFlag	(	XYCell	cell,
		map_flags	flag
	)

Set the flag of a specific cell of the map.

Parameters

cell	is the cell location, referred to the top-left corner of the map.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 962 of file MapGrid2D.cpp.

◆ setMapImage()

bool MapGrid2D::setMapImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

Definition at line 162 of file MapGrid2D.cpp.

◆ setMapName()

bool MapGrid2D::setMapName ( std::string map_name )

Sets the map name.

Parameters

map_name the map name.

Returns: true if map_name is a valid non-empty string, false otherwise.

Definition at line 900 of file MapGrid2D.cpp.

◆ setOccupancyData()

bool MapGrid2D::setOccupancyData	(	XYCell	cell,
		double	occupancy
	)

Set the occupancy data of a specific cell of the map.

Parameters

occupancy represents the probability (0-100) of the cell of being occupied by a wall/obstacle etc.

Returns: true if cell is valid cell inside the map, false otherwise.

Definition at line 984 of file MapGrid2D.cpp.

◆ setOccupancyGrid()

bool MapGrid2D::setOccupancyGrid ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

Definition at line 1013 of file MapGrid2D.cpp.

◆ setOrigin()

bool MapGrid2D::setOrigin	(	double	x,
		double	y,
		double	theta
	)

Sets the origin of the map reference frame (according to ROS convention)

Parameters

x,y,theta is the pose of the origin, expressed in [m], [deg] and referred to the bottom-left corner of the map, pointing outwards.

Returns: true if cell is valid value inside the map, false otherwise.

Definition at line 850 of file MapGrid2D.cpp.

◆ setResolution()

bool MapGrid2D::setResolution ( double resolution )

Sets the resolution of the map, i.e.

the conversion factor which represents the metric size of a map cell.

Parameters

resolution the map resolution, expressed in [m/cell]. e.g. resolution=0.05 means that each cell of the map represent 5cm of the real world.

Returns: true if resolution is valid (>=0), false otherwise.

Definition at line 884 of file MapGrid2D.cpp.

◆ setSize_in_cells()

bool MapGrid2D::setSize_in_cells	(	size_t	x,
		size_t	y
	)

Sets the size of the map in cells.

Parameters

x,y	is the map size in cells.

Returns: true if the operation was successful, false otherwise.

Definition at line 934 of file MapGrid2D.cpp.

◆ setSize_in_meters()

bool MapGrid2D::setSize_in_meters	(	double	x,
		double	y
	)

Sets the size of the map in meters, according to the current map resolution.

Parameters

x,y	is the map size in meters.

Returns: true if the operation was successful, false otherwise.

Definition at line 916 of file MapGrid2D.cpp.

◆ width()

size_t MapGrid2D::width ( ) const

Retrieves the map width, expressed in cells.

Returns: the map width.

Definition at line 142 of file MapGrid2D.cpp.

◆ write()

bool MapGrid2D::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write vector to a connection.

return true iff a vector was written correctly

Implements yarp::os::Portable.

Definition at line 814 of file MapGrid2D.cpp.

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

src/libYARP_dev/src/yarp/dev/MapGrid2D.h
src/libYARP_dev/src/yarp/dev/MapGrid2D.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CellData

Member Enumeration Documentation

◆ map_flags

Constructor & Destructor Documentation

◆ MapGrid2D()

◆ ~MapGrid2D()

Member Function Documentation

◆ crop()

◆ enlargeObstacles()

◆ getMapFlag()

◆ getMapImage()

◆ getMapName()

◆ getOccupancyData()

◆ getOccupancyGrid()

◆ getOrigin()

◆ getResolution()

◆ getSize_in_cells()

◆ getSize_in_meters()

◆ height()

◆ isFree()

◆ isIdenticalTo()

◆ isKeepOut()

◆ isNotFree()

◆ isWall()

◆ loadFromFile()

◆ read()

◆ saveToFile()

◆ setMapFlag()

◆ setMapImage()

◆ setMapName()

◆ setOccupancyData()

◆ setOccupancyGrid()

◆ setOrigin()

◆ setResolution()

◆ setSize_in_cells()

◆ setSize_in_meters()

◆ width()

◆ write()