23 #ifndef __PLUGINS_COLLI_UTILS_OCCUPANCYGRID_OCCUPANCYGRID_H_ 24 #define __PLUGINS_COLLI_UTILS_OCCUPANCYGRID_OCCUPANCYGRID_H_ 26 #include "probability.h" 42 OccupancyGrid(
int width,
int height,
int cell_width=5,
int cell_height=5);
49 int get_cell_height();
58 void set_cell_width(
int cell_width);
61 void set_cell_height(
int cell_height);
64 void set_width(
int width);
67 void set_height(
int height);
70 virtual void set_prob(
int x,
int y,
Probability prob);
79 Probability& operator () (
const int x,
const int y);
float Probability
A probability type.
Fawkes library namespace.
const float OCCUPANCY_THRESHOLD
Occupancy threshold.
int cell_height_
Cell height in cm.
int width_
Width of the grid in # cells.
int cell_width_
Cell width in cm.
int height_
Height of the grid in # cells.
Occupancy Grid class for general use.
std::vector< std::vector< Probability > > occupancy_probs_
The occupancy probability of the cells in a 2D array.