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OGrid Class Reference

A class representing a simplistic occupancy grid. More...

#include <occupancy_grid.h>

Inheritance diagram for OGrid:

Public Member Functions
	OGrid (void)
Static Public Member Functions
void	map_reset (short iwidth, short iheight)
uint8	obstacle (int i, int j)
	Returns whether obstacle or not.
uint8	layer (int i, int j)
void	wall (int x, int y, uint8 ctype, uint8 layer=0)
	Fills in a node with Terrain type specified.
void	initialize (void)
int	debug (int i, int j)
int	get_debug (int)
void	set_debug (int, int)
uint8	pathflag (int x, int y)
void	pathflag (int x, int y, uint8 v)
	Tracks whether it is the path area.
void	clear_pathflag (void)
	Clears both path and area flags.
void	path (int x, int y, uint8 v)
	Tracks whether it is the path.
uint8	path (int x, int y)
Static Public Attributes
short	_map_width
short	_map_height

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Detailed Description

A class representing a simplistic occupancy grid.

Implementation of a simple occupancy grid. The advantage of seperating the occupancy grid from the search algorithm is that although it takes up the same amount of RAM, the RAM used for the search can be reclaimed and reused for other processing like vision after the search is done. Thus, An occupancy node is only a uint8 or two in size allowing a much larger field (storage wise).

Note:

Pathflag is way to avoid recomputing the search (either entirely or incremental) when new obstacles are detected that lie outside of the currently planned path. This is set in the mapping class.

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Constructor & Destructor Documentation

OGrid (  void   )

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Member Function Documentation

void clear_pathflag (  void   )  [static]

Clears both path and area flags.

int debug (  int  i, int  j )  [static]

int get_debug (  int   )  [static]

void initialize (  void   )  [static]

uint8 layer (  int  i, int  j )  [static]

void map_reset (  short  iwidth, short  iheight )  [static]

uint8 obstacle (  int  i, int  j )  [static]

Returns whether obstacle or not.

uint8 path (  int  x, int  y )  [static]

void path (  int  x, int  y, uint8  v )  [static]

Tracks whether it is the path.

void pathflag (  int  x, int  y, uint8  v )  [static]

Tracks whether it is the path area.

uint8 pathflag (  int  x, int  y )  [static]

void set_debug (  int  , int  )  [static]

void wall (  int  x, int  y, uint8  ctype, uint8  layer = 0 )  [static]

Fills in a node with Terrain type specified.

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Field Documentation

short _map_height [static]

short _map_width [static]

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