COccupancyGridMap2D_simulate.cpp File Reference

#include "maps-precomp.h"
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservationRange.h>
#include <mrpt/utils/round.h>
#include <mrpt/math/transform_gaussian.h>
#include <mrpt/random.h>

Include dependency graph for COccupancyGridMap2D_simulate.cpp:

Go to the source code of this file.

Classes
struct	TFunctorLaserSimulData

Macros
#define	INTPRECNUMBIT   10
#define	int_x2idx(_X)   (_X>>INTPRECNUMBIT)
#define	int_y2idx(_Y)   (_Y>>INTPRECNUMBIT)

Functions
static void	func_laserSimul_callback (const Eigen::Vector3d &x_pose, const TFunctorLaserSimulData &fixed_param, Eigen::VectorXd &y_scanRanges)

Macro Definition Documentation

int_x2idx

#define int_x2idx

(

_X

)

(_X>>INTPRECNUMBIT)

Referenced by mrpt::maps::COccupancyGridMap2D::simulateScanRay().

int_y2idx

#define int_y2idx

(

_Y

)

(_Y>>INTPRECNUMBIT)

Referenced by mrpt::maps::COccupancyGridMap2D::simulateScanRay().

INTPRECNUMBIT

#define INTPRECNUMBIT   10

Referenced by mrpt::maps::COccupancyGridMap2D::simulateScanRay().

Function Documentation

func_laserSimul_callback()

static void func_laserSimul_callback ( const Eigen::Vector3d &  x_pose, const TFunctorLaserSimulData &  fixed_param, Eigen::VectorXd &  y_scanRanges  )

static

Definition at line 203 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::aperture, ASSERT_, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::decimation, TFunctorLaserSimulData::grid, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::maxRange, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays, TFunctorLaserSimulData::params, mrpt::poses::CPose2D::phi(), mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose, mrpt::maps::COccupancyGridMap2D::simulateScanRay(), mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().