traversability_generator3d Namespace Reference

Classes
struct	SoilData
class	SoilSample
class	TraversabilityConfig
class	TraversabilityGenerator3d
struct	TravGenTrackingData

Typedefs
typedef maps::grid::TraversabilityNode< SoilData >	SoilNode
typedef maps::grid::TraversabilityMap3d< SoilNode * >	SoilMap3d
typedef maps::grid::TraversabilityNode< TravGenTrackingData >	TravGenNode
typedef maps::grid::TraversabilityMap3d< TravGenNode * >	TravMap3d

Enumerations
enum	SoilType {   UNKNOWN_SOIL = -1 , CONCRETE , ROCKS , SAND ,   GRAVEL }
enum	SlopeMetric { AVG_SLOPE , MAX_SLOPE , TRIANGLE_SLOPE , NONE }
enum	NodeType {   OBSTACLE = 0 , TRAVERSABLE , FRONTIER , INFLATED_OBSTACLE ,   INFLATED_FRONTIER , UNKNOWN , HOLE , UNSET ,   PARTIALLY_TRAVERSABLE }
enum	ObstacleCause {   CAUSE_NONE = 0 , UNMEASURED , STEEP_SLOPE , STEP_HEIGHT ,   INCLINE_LIMIT , NO_SAFE_YAW , MAP_BOUNDARY }

Functions
template<class Archive >
void	serialize (Archive &ar, SoilType &type, const unsigned int version)
std::ostream &	operator<< (std::ostream &os, NodeType type)
bool	operator== (NodeType lhs, NodeType rhs)
bool	operator== (NodeType lhs, int rhs)

Variables
const float	PRIOR_PROB = 0.25

Typedef Documentation

SoilMap3d

typedef maps::grid::TraversabilityMap3d<SoilNode *> traversability_generator3d::SoilMap3d

SoilNode

typedef maps::grid::TraversabilityNode<SoilData> traversability_generator3d::SoilNode

TravGenNode

typedef maps::grid::TraversabilityNode<TravGenTrackingData> traversability_generator3d::TravGenNode

TravMap3d

typedef maps::grid::TraversabilityMap3d<TravGenNode *> traversability_generator3d::TravMap3d

Enumeration Type Documentation

NodeType

enum traversability_generator3d::NodeType

Enumerator
OBSTACLE
TRAVERSABLE
FRONTIER
INFLATED_OBSTACLE
INFLATED_FRONTIER
UNKNOWN
HOLE
UNSET
PARTIALLY_TRAVERSABLE

ObstacleCause

enum traversability_generator3d::ObstacleCause

WHY a node became OBSTACLE — for debugging/visualization (the planner only reads the node type). Set wherever a node is typed OBSTACLE. Plain enum (no enum class): orogen/typelib cannot represent scoped enums, it generates namespace-scope references in the typekits. CAUSE_NONE is prefixed because SlopeMetric already puts NONE into this namespace.

Enumerator
CAUSE_NONE	node is not an obstacle
UNMEASURED	ground-plane fit failed (no/too sparse data)
STEEP_SLOPE	fitted slope > maxSlope
STEP_HEIGHT	patch collides with the robot body volume
INCLINE_LIMIT	no allowed heading under incline limitting
NO_SAFE_YAW	obstacle inflation found no collision-free yaw
MAP_BOUNDARY	robot body volume leaves the mapped grid

SlopeMetric

enum traversability_generator3d::SlopeMetric

Different metrics can be used to factor in the slope of a motion

Enumerator
AVG_SLOPE
MAX_SLOPE
TRIANGLE_SLOPE
NONE

SoilType

enum traversability_generator3d::SoilType

Enumerator
UNKNOWN_SOIL
CONCRETE
ROCKS
SAND
GRAVEL

Function Documentation

operator<<()

std::ostream & traversability_generator3d::operator<< ( std::ostream &  os, NodeType  type  )

inline

operator==() [1/2]

bool traversability_generator3d::operator== ( NodeType  lhs, int  rhs  )

inline

operator==() [2/2]

bool traversability_generator3d::operator== ( NodeType  lhs, NodeType  rhs  )

inline

serialize()

template<class Archive >

void traversability_generator3d::serialize	(	Archive &	ar,
		SoilType &	type,
		const unsigned int	version
	)

Variable Documentation

PRIOR_PROB

const float traversability_generator3d::PRIOR_PROB = 0.25