ProbabilisticMap Class Reference

The ProbabilisticMap class is meant to behave as much as possible as octomap::Octree, given the same voxel size. More...

#include <probabilistic_map.hpp>

Collaboration diagram for ProbabilisticMap:

Classes
struct	CellT
struct	Options
	These default values are the same as OctoMap. More...

Public Types
using	Vector3D = Eigen::Vector3d

Public Member Functions
void	addHitPoint (const Vector3D &point)
void	addMissPoint (const Vector3D &point)
void	getFreeVoxels (std::vector< Bonxai::CoordT > &coords)
void	getOccupiedVoxels (std::vector< Bonxai::CoordT > &coords)
template<typename PointT>
void	getOccupiedVoxels (std::vector< PointT > &points)
VoxelGrid< CellT > &	grid ()
const VoxelGrid< CellT > &	grid () const
template<typename PointT, typename Alloc>
void	insertPointCloud (const std::vector< PointT, Alloc > &points, const PointT &origin, double max_range)
template<typename PointT, typename Allocator>
void	insertPointCloud (const std::vector< PointT, Allocator > &points, const PointT &origin, double max_range)
	insertPointCloud will update the probability map with a new set of detections.
bool	isFree (const Bonxai::CoordT &coord) const
bool	isOccupied (const Bonxai::CoordT &coord) const
bool	isUnknown (const Bonxai::CoordT &coord) const
const Options &	options () const
	ProbabilisticMap (double resolution)
float	queryProbability (const Bonxai::CoordT &coord) const
float	queryProbability (const Eigen::Vector3f &p_world) const
void	setOptions (const Options &options)

Static Public Member Functions
static constexpr int32_t	logods (float prob)
	Compute the logds, but return the result as an integer, The real number is represented as a fixed precision integer (6 decimals after the comma).
static constexpr float	prob (int32_t logods_fixed)
	Expect the fixed comma value returned by logods().

Static Public Attributes
static const int32_t	UnknownProbability = ProbabilisticMap::logods(0.5f)

Detailed Description

The ProbabilisticMap class is meant to behave as much as possible as octomap::Octree, given the same voxel size.

Insert a point cloud to update the current probability

Member Typedef Documentation

Vector3D

using Vector3D = Eigen::Vector3d

Constructor & Destructor Documentation

ProbabilisticMap()

ProbabilisticMap

(

double

resolution

)

Member Function Documentation

addHitPoint()

void addHitPoint

(

const Vector3D &

point

)

addMissPoint()

void addMissPoint

(

const Vector3D &

point

)

getFreeVoxels()

void getFreeVoxels

(

std::vector< Bonxai::CoordT > &

coords

)

getOccupiedVoxels() [1/2]

void getOccupiedVoxels

(

std::vector< Bonxai::CoordT > &

coords

)

getOccupiedVoxels() [2/2]

template<typename PointT>

void getOccupiedVoxels

(

std::vector< PointT > &

points

)

grid() [1/2]

VoxelGrid< ProbabilisticMap::CellT > & grid ( )

nodiscard

grid() [2/2]

const VoxelGrid< ProbabilisticMap::CellT > & grid ( ) const

nodiscard

insertPointCloud() [1/2]

template<typename PointT, typename Alloc>

void insertPointCloud	(	const std::vector< PointT, Alloc > &	points,
		const PointT &	origin,
		double	max_range )

insertPointCloud() [2/2]

template<typename PointT, typename Allocator>

void insertPointCloud	(	const std::vector< PointT, Allocator > &	points,
		const PointT &	origin,
		double	max_range )

insertPointCloud will update the probability map with a new set of detections.

The template function can accept points of different types, such as pcl:Point, Eigen::Vector or Bonxai::Point3d

Both origin and points must be in world coordinates

Parameters

points	a vector of points which represent detected obstacles
origin	origin of the point cloud
max_range	max range of the ray, if exceeded, we will use that to compute a free space

isFree()

bool isFree ( const Bonxai::CoordT & coord ) const

nodiscard

isOccupied()

bool isOccupied ( const Bonxai::CoordT & coord ) const

nodiscard

isUnknown()

bool isUnknown ( const Bonxai::CoordT & coord ) const

nodiscard

logods()

constexpr int32_t logods ( float prob )

staticnodiscardconstexpr

Compute the logds, but return the result as an integer, The real number is represented as a fixed precision integer (6 decimals after the comma).

options()

const ProbabilisticMap::Options & options ( ) const

nodiscard

prob()

constexpr float prob ( int32_t logods_fixed )

staticnodiscardconstexpr

Expect the fixed comma value returned by logods().

queryProbability() [1/2]

float queryProbability ( const Bonxai::CoordT & coord ) const

nodiscard

queryProbability() [2/2]

float queryProbability ( const Eigen::Vector3f & p_world ) const

nodiscard

setOptions()

void setOptions

(

const Options &

options

)

Member Data Documentation

UnknownProbability

const int32_t UnknownProbability = ProbabilisticMap::logods(0.5f)

static

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

• maps_managers/easynav_bonxai_maps_manager/include/bonxai/probabilistic_map.hpp
• maps_managers/easynav_bonxai_maps_manager/src/bonxai/probabilistic_map.cpp