map

Grid map data class. Represents the grid map of the environment containing the defined layers.

namespace slope_constrained_planner

class Map

#include <map.h>

Grid map data class. Represents the grid map of the environment containing the defined layers.

Public Functions

Map(const ParamsConstPtr &params)

Constructs an empty map, without underlying grid map.

Parameters:

params – Contains grid map layers info

void setMap(GridMapPtr &&map)

Sets the underlying grid map by taking ownership of it.

Parameters:

map – Grid map to be set

void copy(const Map &map)

Copies the underlying map and parameters of another map object.

Parameters:

map – Grid map to be copied

const std::vector<std::string> getLayers()

Returns the layers available in the grid map.

inline bool isInside(const grid_map::Position &pos) const

Checks whether position is inside of map bounds.

Parameters:

pos – Position of the state to br checked

Returns:

Whether the state is inside the map or not

inline grid_map::Position getPositionOfIndex(const grid_map::Index &ind) const

Gets the position of state with a particular index in the grid map.

Parameters:

ind – Index of the state in the grid map

Returns:

pos Position of the state

inline float getHeightAtIndex(const grid_map::Index &ind) const

Gets the height value at a certain map index.

Parameters:

ind – Index of the state in the grid map

Returns:

Height of state

inline float getHeightAtPosition(const grid_map::Position &pos) const

Gets the height value at a certain map position. Might throw exceptions if position is outside map boundaries.

Parameters:

pos – Position of the state

Returns:

Height of state position

inline bool getUpdatedAtPosition(const grid_map::Position &pos) const

Return whether this cell was updated in the last map update. Might throw exceptions if position is outside map boundaries.

Parameters:

pos – Position of the state

bool getUpdatedOnLine(const grid_map::Position &start, const grid_map::Position &end)

Updates the grid map data from and starting to the ending position.

Parameters:

• start – Starting position

• end – Ending position

Returns:

Whether the grid map data is updated

inline Eigen::Vector3d getNormal(const grid_map::Index &ind) const

Gets the terrain normal at a certain map index.

Parameters:

ind – Index of state in the grid map

Returns:

Normal Vector at the index

inline grid_map::Index getIndexOfPosition(const grid_map::Position &pos) const

Gets the map index of a certain position. Might throw exception if position is out of bounds.

Parameters:

pos – Position of the state

Returns:

ind Index of position

inline float getPlaneFitStdDev(const grid_map::Index &ind) const

Gets the standard deviation of a plane fit error at the given map index.

Parameters:

ind – Index of the state at the grid map

Returns:

Standard deviation of plane

inline const grid_map::Matrix &getLayer(const std::string &layer) const

Gets the required layer from the grid map.

Parameters:

layer – Required layer name

Returns:

Layer data

inline void addLayer(const std::string &layer_name, const grid_map::Matrix &data)

Adds a layer to the grid map.

Parameters:

• layer_name – Name of the layer to be added

• data – Layer data

inline void addLayer(const std::string &layer_name, const double val)

Adds a layer to the grid map.

Parameters:

• layer_name – Name of the layer to be added

• val – Layer value

inline Eigen::Index lengthToCellCount(const double &length) const

Gets the length to cell resolution ratio of the grid map.

Parameters:

length – Length to be checked

Returns:

Length to cell

inline const grid_map::GridMap &getMap() const

Gets the map from the corresponding class attribute.

Returns:

Grid map data

void reApplyPreprocessing()

Performs the pre-processing on the map again.

Private Members

GridMapPtr map_ = {new grid_map::GridMap()}

Grid map object attribute.

ParamsConstPtr params_

Params containing the grid map layers info.

mutable std::mutex mutex_

Grid map process mutex.

ChainNewMap map_pre_processor_

Map pre-processor attribute to be used in setting map.

ChainOldMap old_map_post_processor_

Old map post-processor attribute to be used in setting map.