Package rst.navigation

Not documented

Messages

• OccupancyGrid2DInt

clearer: should be made invisible via css

Message OccupancyGrid2DInt

class rst.navigation.OccupancyGrid2DInt

Constraint: len(.map) = (.width * .height)

This represents a 2D grid map, in which each cell represents the probability of occupancy.

This kind of representation is often used in SLAM implementations.

Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

resolution

Type :FLOAT32

Unit: meter

The map resolution as edge length of a cell.

width

Type :UINT32

Number of cells in x direction.

height

Type :UINT32

Number of cells in y direction.

origin

Type :rst.geometry.Pose

The origin of the map.

This is the real-world pose of the cell (0,0) in the map. The grid is defined in the x-y plane given by this pose, therefore the rotation defines the orientation of the 2D grid in the real three-dimensional world. If the floor is defined as the x-y plane in world coordinates, the pose should only contain a rotation around the z-axis.

map

Type :OCTET-VECTOR

The map data, in row-major order.

Occupancy probabilities are signed 8-bit integer in the range [0,100]. Unknown is -1.

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message OccupancyGrid2DInt {

    /**
     * The map resolution as edge length of a cell.
     */
    // @unit(meter)
    required float resolution = 1;

    /**
     * Number of cells in x direction.
     */
    required uint32 width = 2;

    /**
     * Number of cells in y direction.
     */
    required uint32 height = 3;

    /**
     * The origin of the map.
     *
     * This is the real-world pose of the cell (0,0) in the map. The
     * grid is defined in the x-y plane given by this pose, therefore
     * the rotation defines the orientation of the 2D grid in the real
     * three-dimensional world. If the floor is defined as the x-y
     * plane in world coordinates, the pose should only contain a
     * rotation around the z-axis.
     */
    required geometry.Pose origin = 4;

    /**
     * The map data, in row-major order.
     *
     * Occupancy probabilities are signed 8-bit integer in the range
     * [0,100]. Unknown is -1.
     */
    required bytes map = 5;

}