GroundGrid Class Reference

Class to represent a ground height grid for ground proximity checks. More...

#include <ground_grid.hpp>

Collaboration diagram for GroundGrid:

Public Member Functions
	GroundGrid ()=default
	GroundGrid (const double range, const double angle, const double radius, const double start_augmentation, const double radius_augmentation, const double fov)
	Constructor for GroundGrid.
float	get_ground_height (const float x, const float y) const
	Get the ground height at a specific (x, y) location.
void	set_ground_height (const float x, const float y, const float height)
	Set the ground height at a specific (x, y) location.
void	reset_grid ()
	Reset the ground grid to initial state.

Private Attributes
double	range_
GridGeometry	grid_geometry_
std::vector< std::vector< float > >	grid_

Detailed Description

Class to represent a ground height grid for ground proximity checks.

Definition at line 16 of file ground_grid.hpp.

Constructor & Destructor Documentation

GroundGrid() [1/2]

GroundGrid::GroundGrid ( )

default

GroundGrid() [2/2]

GroundGrid::GroundGrid	(	const double	range,
		const double	angle,
		const double	radius,
		const double	start_augmentation,
		const double	radius_augmentation,
		const double	fov
	)

Constructor for GroundGrid.

Parameters

range	Maximum range of the grid
angle	Angular resolution
radius	Base radial bin size
start_augmentation	Distance at which augmentation starts
radius_augmentation	Bin size increase per bin
fov	Field of view

Definition at line 3 of file ground_grid.cpp.

Here is the call graph for this function:

Member Function Documentation

get_ground_height()

float GroundGrid::get_ground_height	(	const float	x,
		const float	y
	)		const

Get the ground height at a specific (x, y) location.

Parameters

x	X coordinate
y	Y coordinate

Returns

Ground height (float), or NaN if no data

Definition at line 12 of file ground_grid.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

reset_grid()

void GroundGrid::reset_grid

(

)

Reset the ground grid to initial state.

Definition at line 43 of file ground_grid.cpp.

Here is the caller graph for this function:

set_ground_height()

void GroundGrid::set_ground_height	(	const float	x,
		const float	y,
		const float	height
	)

Set the ground height at a specific (x, y) location.

Parameters

x	X coordinate
y	Y coordinate
height	Ground height to set

Definition at line 25 of file ground_grid.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

grid_

std::vector<std::vector<float> > GroundGrid::grid_

private

Definition at line 57 of file ground_grid.hpp.

grid_geometry_

GridGeometry GroundGrid::grid_geometry_

private

Definition at line 56 of file ground_grid.hpp.

range_

double GroundGrid::range_

private

Definition at line 55 of file ground_grid.hpp.

---

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

• src/perception/include/utils/ground_grid.hpp
• src/perception/src/utils/ground_grid.cpp