cpp_robotics::GridMap

GridMap は障害物を格子点の集合で表現するマップ、座標は正の値かつmap_size未満であること More...

#include <path_planning_utils.hpp>

Inherits from cpp_robotics::PathPlanningMap< Eigen::Matrix< double, Eigen::Dynamic, 1 > >

Public Types

	Name
using Eigen::Matrix< int, Dim, 1 >	GridVector
using Eigen::Matrix< double, Dim, 1 >	Vector

Public Functions

	Name
template <int N =Vector::RowsAtCompileTime,typename std::enable_if< N !=Eigen::Dynamic, int >::type =0>	GridMap(std::vector< GridVector > obstacles, GridVector map_size, double resolution, double margin =0.0)
template <int N =Vector::RowsAtCompileTime,typename std::enable_if< N==Eigen::Dynamic, int >::type =0>	GridMap(size_t dim, std::vector< GridVector > obstacles, GridVector map_size, double resolution, double margin =0.0)
bool	is_valid(const Vector & point) const override
bool	is_valid(const Vector & from, const Vector & to) const override
virtual double	map_size() const override

Additional inherited members

Public Functions inherited from cpp_robotics::PathPlanningMap< Eigen::Matrix< double, Eigen::Dynamic, 1 > >

	Name
template <int N =Vector::RowsAtCompileTime,typename std::enable_if< N !=Eigen::Dynamic, int >::type =0>	PathPlanningMap()
template <int N =Vector::RowsAtCompileTime,typename std::enable_if< N==Eigen::Dynamic, int >::type =0>	PathPlanningMap(int dimension)
size_t	dimension() const
virtual Vector	random_sampling() const

Protected Attributes inherited from cpp_robotics::PathPlanningMap< Eigen::Matrix< double, Eigen::Dynamic, 1 > >

	Name
std::vector< UniformRealRandomEngine >	rand_engines_

Detailed Description

template <int Dim =Eigen::Dynamic>
class cpp_robotics::GridMap;

GridMap は障害物を格子点の集合で表現するマップ、座標は正の値かつmap_size未満であること

Public Types Documentation

using GridVector

using cpp_robotics::GridMap< Dim >::GridVector =  Eigen::Matrix<int, Dim, 1>;

using Vector

using cpp_robotics::GridMap< Dim >::Vector =  Eigen::Matrix<double, Dim, 1>;

Public Functions Documentation

function GridMap

template <int N =Vector::RowsAtCompileTime,
typename std::enable_if< N !=Eigen::Dynamic, int >::type  =0>
inline GridMap(
    std::vector< GridVector > obstacles,
    GridVector map_size,
    double resolution,
    double margin =0.0
)

function GridMap

template <int N =Vector::RowsAtCompileTime,
typename std::enable_if< N==Eigen::Dynamic, int >::type  =0>
inline GridMap(
    size_t dim,
    std::vector< GridVector > obstacles,
    GridVector map_size,
    double resolution,
    double margin =0.0
)

function is_valid

inline bool is_valid(
    const Vector & point
) const override

function is_valid

inline bool is_valid(
    const Vector & from,
    const Vector & to
) const override

function map_size

inline virtual double map_size() const override

Reimplements: cpp_robotics::PathPlanningMap::map_size

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Updated on 2024-05-28 at 06:55:39 +0000