easynav::navmap Namespace Reference

Classes
class	AMCLLocalizer
	A localization method implementing a simplified AMCL (Adaptive Monte Carlo Localization) approach. More...
class	AStarPlanner
	A planner implementing the A* algorithm on a ::navmap::NavMap grid. More...
class	InflationFilter
struct	LoadParameters
class	NavMapFilter
class	NavMapMapsManager
	A plugin-based map manager using the SimpleMap data structure. More...
class	ObstacleFilter
struct	Particle
	Structure representing a single particle in the AMCL algorithm. More...
class	PerceptionModel
struct	SaveParameters
struct	ScoreAgg
struct	SensorBundle

Typedefs
using	ProgressCallback = std::function<void(float)>

Enumerations
enum	LOAD_MAP_STATUS { LOAD_MAP_SUCCESS , MAP_DOES_NOT_EXIST , INVALID_MAP_METADATA , INVALID_MAP_DATA }
enum class	MapMode { Trinary , Scale , Raw }

Functions
void	checkSaveParameters (SaveParameters &save_parameters)
	Checks map saving parameters for consistency.
tf2::Matrix3x3	computeCovariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count, const tf2::Vector3 &mean)
tf2::Vector3	computeMean (const std::vector< Particle > &particles, std::size_t start, std::size_t count)
double	computeYawVariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count)
std::string	expand_user_home_dir_if_needed (std::string yaml_filename, std::string home_dir)
	Expand ~/ to home user dir.
double	extractYaw (const tf2::Transform &T)
std::string	get_home_dir ()
std::optional< tf2::Quaternion >	get_latest_imu_quat (const NavState &nav_state)
std::shared_ptr< Bonxai::ProbabilisticMap >	inflate_map (const std::shared_ptr< Bonxai::ProbabilisticMap > &src, double sigma, double p_min, ProgressCallback progress=nullptr)
void	loadMapFromFile (const LoadParameters &load_parameters, nav_msgs::msg::OccupancyGrid &map)
	Load the image from map file and generate an OccupancyGrid.
LOAD_MAP_STATUS	loadMapFromYaml (const std::string &yaml_file, nav_msgs::msg::OccupancyGrid &map)
	Load the map YAML, image from map file and generate an OccupancyGrid.
LoadParameters	loadMapYaml (const std::string &yaml_filename)
	Load and parse the given YAML file.
MapMode	map_mode_from_string (std::string map_mode_name)
	Convert the name of a map mode to a MapMode enum.
const char *	map_mode_to_string (MapMode map_mode)
	Convert a MapMode enum to the name of the map mode.
geometry_msgs::msg::Quaternion	orientationAroundZAxis (double angle)
	Get a geometry_msgs Quaternion from a yaw angle.
bool	saveMapToFile (const nav_msgs::msg::OccupancyGrid &map, const SaveParameters &save_parameters)
	Write OccupancyGrid map to file.
void	tryWriteMapToFile (const nav_msgs::msg::OccupancyGrid &map, const SaveParameters &save_parameters)
	Tries to write map data into a file.
template<typename T>
T	yaml_get_value (const YAML::Node &node, const std::string &key)
	Get the given subnode value.

Typedef Documentation

ProgressCallback

using ProgressCallback = std::function<void(float)>

Enumeration Type Documentation

LOAD_MAP_STATUS

enum LOAD_MAP_STATUS

Enumerator
LOAD_MAP_SUCCESS
MAP_DOES_NOT_EXIST
INVALID_MAP_METADATA
INVALID_MAP_DATA

MapMode

enum class MapMode

strong

Enumerator
Trinary	Together with associated threshold values (occupied and free): lightness >= occupied threshold - Occupied (100) ... (anything in between) - Unknown (-1) lightness <= free threshold - Free (0).
Scale	Together with associated threshold values (occupied and free): alpha < 1.0 - Unknown (-1) lightness >= occ_th - Occupied (100) ... (linearly interpolate to) lightness <= free_th - Free (0).
Raw	Lightness = 0 - Free (0) ... (linearly interpolate to) Lightness = 100 - Occupied (100) Lightness >= 101 - Unknown.

Function Documentation

checkSaveParameters()

void checkSaveParameters

(

SaveParameters &

save_parameters

)

Checks map saving parameters for consistency.

Parameters

save_parameters

Map saving parameters. NOTE: save_parameters could be updated during function execution.

Exceptions

std::exception

in case of inconsistent parameters

computeCovariance()

tf2::Matrix3x3 computeCovariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count,
		const tf2::Vector3 &	mean )

computeMean()

tf2::Vector3 computeMean	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

computeYawVariance()

double computeYawVariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

expand_user_home_dir_if_needed()

std::string expand_user_home_dir_if_needed	(	std::string	yaml_filename,
		std::string	home_dir )

Expand ~/ to home user dir.

Parameters

yaml_filename	Name of input YAML file.
home_dir	Expanded ~/home dir or empty string if HOME not set

Returns

Expanded string or input string if ~/ not expanded

extractYaw()

double extractYaw

(

const tf2::Transform &

T

)

get_home_dir()

std::string get_home_dir

(

)

get_latest_imu_quat()

std::optional< tf2::Quaternion > get_latest_imu_quat

(

const NavState &

nav_state

)

inflate_map()

std::shared_ptr< Bonxai::ProbabilisticMap > inflate_map	(	const std::shared_ptr< Bonxai::ProbabilisticMap > &	src,
		double	sigma,
		double	p_min,
		ProgressCallback	progress = nullptr )

loadMapFromFile()

void loadMapFromFile	(	const LoadParameters &	load_parameters,
		nav_msgs::msg::OccupancyGrid &	map )

Load the image from map file and generate an OccupancyGrid.

Parameters

load_parameters	Parameters of loading map
map	Output loaded map

Exceptions

std::exception

loadMapFromYaml()

LOAD_MAP_STATUS loadMapFromYaml	(	const std::string &	yaml_file,
		nav_msgs::msg::OccupancyGrid &	map )

Load the map YAML, image from map file and generate an OccupancyGrid.

Parameters

yaml_file	Name of input YAML file
map	Output loaded map

Returns

status of map loaded

loadMapYaml()

LoadParameters loadMapYaml

(

const std::string &

yaml_filename

)

Load and parse the given YAML file.

Parameters

yaml_filename

Name of the map file passed though parameter

Returns

Map loading parameters obtained from YAML file

Exceptions

YAML::Exception

map_mode_from_string()

MapMode map_mode_from_string

(

std::string

map_mode_name

)

Convert the name of a map mode to a MapMode enum.

Parameters

map_mode_name

Name of the map mode

Exceptions

std::invalid_argument

if the name does not name a map mode

Returns

map mode corresponding to the string

map_mode_to_string()

const char * map_mode_to_string

(

MapMode

map_mode

)

Convert a MapMode enum to the name of the map mode.

Parameters

map_mode

Mode for the map

Returns

String identifier of the given map mode

Exceptions

std::invalid_argument

if the given value is not a defined map mode

orientationAroundZAxis()

geometry_msgs::msg::Quaternion orientationAroundZAxis

(

double

angle

)

Get a geometry_msgs Quaternion from a yaw angle.

Parameters

angle

Yaw angle to generate a quaternion from

Returns

geometry_msgs Quaternion

saveMapToFile()

bool saveMapToFile	(	const nav_msgs::msg::OccupancyGrid &	map,
		const SaveParameters &	save_parameters )

Write OccupancyGrid map to file.

Parameters

map	OccupancyGrid map data
save_parameters	Map saving parameters.

Returns

true or false

tryWriteMapToFile()

void tryWriteMapToFile	(	const nav_msgs::msg::OccupancyGrid &	map,
		const SaveParameters &	save_parameters )

Tries to write map data into a file.

Parameters

map	Occupancy grid data
save_parameters	Map saving parameters

Exceptions

std::exception

in case of problem

yaml_get_value()

template<typename T>

T yaml_get_value	(	const YAML::Node &	node,
		const std::string &	key )

Get the given subnode value.

The only reason this function exists is to wrap the exceptions in slightly nicer error messages, including the name of the failed key

Exceptions

YAML::Exception