MipBaselib::ProbGrid Class Reference
A occupancy grid for probabalistic mapping of a robot's surrounding. More...
#include <Grid.h>
Inheritance diagram for MipBaselib::ProbGrid:
Public Member Functions | |
| ProbGrid () | |
| ProbGrid (ExplorationParams params, Scan currScan, Pose center, Decimal width, Decimal height, Decimal distForInvalid=0.3) | |
| Parametric constructor. | |
| ~ProbGrid () | |
| void | addScan (Scan &scan, Pose &scanPose) |
| Incorporate data from a new scan into grid. | |
| Pose | pickBestScanPose () |
| Pick the next pose which should best improve the certainty of the map. | |
| bool | isGridSettled () |
| Determines whether grid has sufficiently settled to proceed with classification. | |
| void | defineProbBoard () |
| Constructs the matricial rapresentation of the grid. Sets the fields of the cells composing the board and calls the functions for definition of LSR, LSR boundary, LRR, LRR boundary, Frontier. | |
| ProbCell * | getProbCell (Position pos) |
| vector< ProbCell * > | bresenham (ProbCell *startCell, ProbCell *stopCell) |
Public Attributes | |
| vector< ProbCell > | _probBoard |
Detailed Description
A occupancy grid for probabalistic mapping of a robot's surrounding.
- Date:
- 2010/08/30
Constructor & Destructor Documentation
| MipBaselib::ProbGrid::ProbGrid | ( | ) |
| MipBaselib::ProbGrid::ProbGrid | ( | ExplorationParams | params, | |
| Scan | currScan, | |||
| Pose | center, | |||
| Decimal | width, | |||
| Decimal | height, | |||
| Decimal | distForInvalid = 0.3 | |||
| ) |
Parametric constructor.
| MipBaselib::ProbGrid::~ProbGrid | ( | ) |
Member Function Documentation
Incorporate data from a new scan into grid.
| Pose MipBaselib::ProbGrid::pickBestScanPose | ( | ) |
Pick the next pose which should best improve the certainty of the map.
| bool MipBaselib::ProbGrid::isGridSettled | ( | ) |
Determines whether grid has sufficiently settled to proceed with classification.
| void MipBaselib::ProbGrid::defineProbBoard | ( | ) |
Member Data Documentation
The documentation for this class was generated from the following files:
