List of all members | Public Member Functions | Public Attributes
OccupancyGrid Struct Reference

#include <ArmarXSimulation/components/LaserScannerSimulation/OccupancyGrid.h>

Public Member Functions

float computeDistance (Eigen::Vector2f pos, Eigen::Vector2f dir)
 
Eigen::Vector2f getCentralPosition (std::size_t indexX, std::size_t indexY) const
 
void init (std::size_t gridSizeX, std::size_t gridSizeY, float originX, float originY, float gridStepSize)
 
bool isInBounds (float posX, float posY) const
 
bool isOccupied (float posX, float posY) const
 
bool isOccupied (std::size_t indexX, std::size_t indexY) const
 
void setOccupied (std::size_t indexX, std::size_t indexY, bool posOccupied)
 

Public Attributes

boost::dynamic_bitset< std::size_t > occupied
 
float originX = 0.0f
 
float originY = 0.0f
 
std::size_t sizeX = 0
 
std::size_t sizeY = 0
 
float stepSize = 0.0f
 

Detailed Description

Definition at line 38 of file OccupancyGrid.h.

Member Function Documentation

◆ computeDistance()

float computeDistance ( Eigen::Vector2f pos,
Eigen::Vector2f dir )
inline

Definition at line 105 of file OccupancyGrid.h.

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◆ getCentralPosition()

Eigen::Vector2f getCentralPosition ( std::size_t indexX,
std::size_t indexY ) const
inline

Definition at line 79 of file OccupancyGrid.h.

◆ init()

void init ( std::size_t gridSizeX,
std::size_t gridSizeY,
float originX,
float originY,
float gridStepSize )
inline

Definition at line 41 of file OccupancyGrid.h.

◆ isInBounds()

bool isInBounds ( float posX,
float posY ) const
inline

Definition at line 95 of file OccupancyGrid.h.

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◆ isOccupied() [1/2]

bool isOccupied ( float posX,
float posY ) const
inline

Definition at line 87 of file OccupancyGrid.h.

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◆ isOccupied() [2/2]

bool isOccupied ( std::size_t indexX,
std::size_t indexY ) const
inline

Definition at line 58 of file OccupancyGrid.h.

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◆ setOccupied()

void setOccupied ( std::size_t indexX,
std::size_t indexY,
bool posOccupied )
inline

Definition at line 69 of file OccupancyGrid.h.

Member Data Documentation

◆ occupied

boost::dynamic_bitset<std::size_t> occupied

Definition at line 160 of file OccupancyGrid.h.

◆ originX

float originX = 0.0f

Definition at line 157 of file OccupancyGrid.h.

◆ originY

float originY = 0.0f

Definition at line 158 of file OccupancyGrid.h.

◆ sizeX

std::size_t sizeX = 0

Definition at line 155 of file OccupancyGrid.h.

◆ sizeY

std::size_t sizeY = 0

Definition at line 156 of file OccupancyGrid.h.

◆ stepSize

float stepSize = 0.0f

Definition at line 159 of file OccupancyGrid.h.

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