COccupancyGridMap2D_simulate.cpp File Reference

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

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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 mrpt::math::CVectorFixedDouble< 3 > &x_pose, const TFunctorLaserSimulData &fixed_param, mrpt::math::CVectorDouble &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 mrpt::math::CVectorFixedDouble< 3 > &  x_pose, const TFunctorLaserSimulData &  fixed_param, mrpt::math::CVectorDouble &  y_scanRanges  )

static

Definition at line 198 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::math::CVectorDynamic< T >::resize(), mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose, mrpt::maps::COccupancyGridMap2D::simulateScanRay(), mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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

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