#include <armarx/navigation/algorithms/Costmap.h>

Classes
struct	Filter

struct	Optimum

struct	Parameters

struct	Vertex

Public Types
enum class	AddMode { MIN , MAX , MULTIPLY }

using	Grid = Eigen::MatrixXf

using	Index = Eigen::Array2i

using	Mask = Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic>

using	Position = Eigen::Vector2f

Public Member Functions
bool	add (const Costmap &other, AddMode mode, bool keepThis=false)

bool	add (const Costmap &other, float weight=1.0)

bool	addCostmapWithSameSizeAndPose (const Costmap &other, AddMode mode)

core::Pose2D	centerPose () const

	Costmap (const Grid &grid, const Parameters &parameters, const SceneBounds &sceneBounds, const std::optional< Mask > &mask=std::nullopt, const core::Pose2D &origin=core::Pose2D::Identity())

void	cutToValidBoundingBox ()

void	excludeUnreachable (const Position &position)

void	filter (const Filter &filter)

std::optional< Vertex >	findClosestCollisionFreeVertex (const Position &position, float maxDistance) const
	Find the closest collision-free position to a given position.

void	forEachCell (const std::function< void(const Index &)> &f) const

void	forEachCellParallel (const std::function< void(const Index &)> &f) const

const Grid &	getGrid () const

const SceneBounds &	getLocalSceneBounds () const noexcept

const std::optional< Mask > &	getMask () const noexcept

Grid &	getMutableGrid ()

std::optional< Costmap::Mask > &	getMutableMask () noexcept

std::pair< Index, Index >	getValidBoundingBox () const

bool	isInCollision (const Position &p) const

bool	isValid (const Index &index) const noexcept
	checks whether the cell is masked out

Costmap	mergeInto (const std::vector< Costmap > &costmaps, const std::vector< float > &weights) const
	Merge a list of costmaps into this costmap.

std::size_t	numberOfValidElements () const

Optimum	optimum () const

const core::Pose2D &	origin () const

const Parameters &	params () const noexcept

void	setOrigin (const core::Pose2D &globalPose)

std::pair< int, int >	toIndexUnsanitized (const Eigen::Vector2f &globalPosition) const

Position	toPositionGlobal (const Index &index) const

Position	toPositionLocal (const Index &index) const

Vertex	toVertex (const Position &globalPosition) const

std::optional< Costmap::Vertex >	toVertexOrInvalid (const Eigen::Vector2f &globalPosition) const

void	validateSizes () const

std::optional< float >	value (const Index &index) const

std::optional< float >	value (const Position &position) const

Static Public Member Functions
static Costmap	WithSameDimsAs (const Costmap &other, const Grid &grid, const std::optional< Mask > &mask=std::nullopt)
	Create a costmap with the same dimensions and parameters as the given one.

Friends
class	CostmapBuilder

class	SocialCostmapBuilder

Detailed Description

Definition at line 17 of file Costmap.h.

Member Typedef Documentation

◆ Grid

using Grid = Eigen::MatrixXf

Definition at line 57 of file Costmap.h.

◆ Index

using Index = Eigen::Array2i

Definition at line 55 of file Costmap.h.

◆ Mask

using Mask = Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 60 of file Costmap.h.

◆ Position

using Position = Eigen::Vector2f

Definition at line 56 of file Costmap.h.

Member Enumeration Documentation

◆ AddMode

enum class AddMode

strong

Enumerator
MIN
MAX
MULTIPLY

Definition at line 133 of file Costmap.h.

Constructor & Destructor Documentation

◆ Costmap()

Costmap	(	const Grid &	grid,
		const Parameters &	parameters,
		const SceneBounds &	sceneBounds,
		const std::optional< Mask > &	mask = std::nullopt,
		const core::Pose2D &	origin = core::Pose2D::Identity() )

Definition at line 31 of file Costmap.cpp.

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Member Function Documentation

◆ add() [1/2]

bool add	(	const Costmap &	other,
		AddMode	mode,
		bool	keepThis = false )

Definition at line 446 of file Costmap.cpp.

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◆ add() [2/2]

bool add	(	const Costmap &	other,
		float	weight = 1.0 )

Definition at line 376 of file Costmap.cpp.

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◆ addCostmapWithSameSizeAndPose()

bool addCostmapWithSameSizeAndPose	(	const Costmap &	other,
		AddMode	mode )

Definition at line 321 of file Costmap.cpp.

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◆ centerPose()

core::Pose2D centerPose ( ) const

inline

Definition at line 109 of file Costmap.h.

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◆ cutToValidBoundingBox()

void cutToValidBoundingBox ( )

Definition at line 562 of file Costmap.cpp.

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◆ excludeUnreachable()

void excludeUnreachable ( const Position & position )

Definition at line 748 of file Costmap.cpp.

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◆ filter()

void filter ( const Filter & filter )

Definition at line 244 of file Costmap.cpp.

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◆ findClosestCollisionFreeVertex()

std::optional< Costmap::Vertex > findClosestCollisionFreeVertex	(	const Position &	position,
		float	maxDistance ) const

Find the closest collision-free position to a given position.

Searches in expanding circles up to maxDistance for the closest position that is not in collision (grid value > 0).

Parameters

position	The starting position to search from
maxDistance	Maximum search radius [mm]

Returns: std::optional<Vertex> The closest collision-free vertex, or nullopt if none found

Definition at line 860 of file Costmap.cpp.

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◆ forEachCell()

void forEachCell ( const std::function< void(const Index &)> & f ) const

Definition at line 219 of file Costmap.cpp.

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◆ forEachCellParallel()

void forEachCellParallel ( const std::function< void(const Index &)> & f ) const

Definition at line 231 of file Costmap.cpp.

◆ getGrid()

const Costmap::Grid & getGrid ( ) const

Definition at line 308 of file Costmap.cpp.

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◆ getLocalSceneBounds()

const SceneBounds & getLocalSceneBounds ( ) const

noexcept

Definition at line 165 of file Costmap.cpp.

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◆ getMask()

const std::optional< Costmap::Mask > & getMask ( ) const

noexcept

Definition at line 529 of file Costmap.cpp.

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◆ getMutableGrid()

Grid & getMutableGrid ( )

inline

Definition at line 96 of file Costmap.h.

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◆ getMutableMask()

std::optional< Costmap::Mask > & getMutableMask ( )

noexcept

Definition at line 535 of file Costmap.cpp.

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◆ getValidBoundingBox()

std::pair< Costmap::Index, Costmap::Index > getValidBoundingBox ( ) const

Definition at line 715 of file Costmap.cpp.

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◆ isInCollision()

bool isInCollision ( const Position & p ) const

Definition at line 314 of file Costmap.cpp.

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◆ isValid()

bool isValid ( const Index & index ) const

noexcept

checks whether the cell is masked out

Definition at line 82 of file Costmap.cpp.

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◆ mergeInto()

Costmap mergeInto	(	const std::vector< Costmap > &	costmaps,
		const std::vector< float > &	weights ) const

Merge a list of costmaps into this costmap.

Parameters

costmaps	list of other costmaps
weights	[weights of other costmaps..., weights of this costmap]

Returns: the merged costmap

Definition at line 596 of file Costmap.cpp.

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◆ numberOfValidElements()

std::size_t numberOfValidElements ( ) const

Definition at line 671 of file Costmap.cpp.

◆ optimum()

Costmap::Optimum optimum ( ) const

Definition at line 171 of file Costmap.cpp.

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◆ origin()

const core::Pose2D & origin ( ) const

inline

Definition at line 171 of file Costmap.h.

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◆ params()

const Costmap::Parameters & params ( ) const

noexcept

Definition at line 302 of file Costmap.cpp.

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◆ setOrigin()

void setOrigin ( const core::Pose2D & globalPose )

inline

Definition at line 177 of file Costmap.h.

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◆ toIndexUnsanitized()

std::pair< int, int > toIndexUnsanitized ( const Eigen::Vector2f & globalPosition ) const

Definition at line 116 of file Costmap.cpp.

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◆ toPositionGlobal()

Costmap::Position toPositionGlobal ( const Index & index ) const

Definition at line 75 of file Costmap.cpp.

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◆ toPositionLocal()

Costmap::Position toPositionLocal ( const Index & index ) const

Definition at line 61 of file Costmap.cpp.

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◆ toVertex()

Costmap::Vertex toVertex ( const Position & globalPosition ) const

Definition at line 146 of file Costmap.cpp.

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◆ toVertexOrInvalid()

std::optional< Costmap::Vertex > toVertexOrInvalid ( const Eigen::Vector2f & globalPosition ) const

Definition at line 132 of file Costmap.cpp.

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◆ validateSizes()

void validateSizes ( ) const

Definition at line 46 of file Costmap.cpp.

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◆ value() [1/2]

std::optional< float > value ( const Index & index ) const

Definition at line 541 of file Costmap.cpp.

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◆ value() [2/2]

std::optional< float > value ( const Position & position ) const

Definition at line 553 of file Costmap.cpp.

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◆ WithSameDimsAs()

Costmap WithSameDimsAs	(	const Costmap &	other,
		const Grid &	grid,
		const std::optional< Mask > &	mask = std::nullopt )

static

Create a costmap with the same dimensions and parameters as the given one.

Only the content (grid and mask) are altered.

Parameters

other	The costmap providing the dimensions and parameters
grid
mask

Returns: Costmap

Definition at line 854 of file Costmap.cpp.

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Friends And Related Symbol Documentation

◆ CostmapBuilder

friend class CostmapBuilder

friend

Definition at line 22 of file Costmap.h.

◆ SocialCostmapBuilder

friend class SocialCostmapBuilder

friend

Definition at line 23 of file Costmap.h.

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

armarx/navigation/algorithms/Costmap.h
armarx/navigation/algorithms/Costmap.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Grid

◆ Index

◆ Mask

◆ Position

Member Enumeration Documentation

◆ AddMode

Constructor & Destructor Documentation

◆ Costmap()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ addCostmapWithSameSizeAndPose()

◆ centerPose()

◆ cutToValidBoundingBox()

◆ excludeUnreachable()

◆ filter()

◆ findClosestCollisionFreeVertex()

◆ forEachCell()

◆ forEachCellParallel()

◆ getGrid()

◆ getLocalSceneBounds()

◆ getMask()

◆ getMutableGrid()

◆ getMutableMask()

◆ getValidBoundingBox()

◆ isInCollision()

◆ isValid()

◆ mergeInto()

◆ numberOfValidElements()

◆ optimum()

◆ origin()

◆ params()

◆ setOrigin()

◆ toIndexUnsanitized()

◆ toPositionGlobal()

◆ toPositionLocal()

◆ toVertex()

◆ toVertexOrInvalid()

◆ validateSizes()

◆ value() [1/2]

◆ value() [2/2]

◆ WithSameDimsAs()

Friends And Related Symbol Documentation

◆ CostmapBuilder

◆ SocialCostmapBuilder