random_obstacle_core.OccupancyMap Class Reference

Public Member Functions
Point2D	cell_to_world (self, int row, int col)
int	height (self)
bool	is_valid_world (self, Point2D point)
bool	line_is_valid (self, Point2D start, Point2D end)
"OccupancyMap"	load (cls, str yaml_path, float clearance)
int	width (self)
Optional[Cell]	world_to_cell (self, float x, float y)

Detailed Description

ROS occupancy map with a clearance-aware valid-cell mask.

Member Function Documentation

cell_to_world()

Point2D random_obstacle_core.OccupancyMap.cell_to_world	(		self,
		int	row,
		int	col
	)

Convert an image row/column to the centre of a map cell.

height()

int random_obstacle_core.OccupancyMap.height

(

self

)

is_valid_world()

bool random_obstacle_core.OccupancyMap.is_valid_world	(		self,
		Point2D	point
	)

Return whether a world point lies in the clearance-aware mask.

line_is_valid()

bool random_obstacle_core.OccupancyMap.line_is_valid	(		self,
		Point2D	start,
		Point2D	end
	)

Sample a segment densely enough that it cannot skip a map cell.

load()

"OccupancyMap" random_obstacle_core.OccupancyMap.load	(		cls,
		str	yaml_path,
		float	clearance
	)

Load a ROS map YAML and build a mask clear of walls/unknown cells.

width()

int random_obstacle_core.OccupancyMap.width

(

self

)

world_to_cell()

Optional[Cell] random_obstacle_core.OccupancyMap.world_to_cell	(		self,
		float	x,
		float	y
	)

Convert map coordinates to an image row/column.

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

• Code/src/robot_simulation/scripts/random_obstacle_core.py