Class Map

• Defined in File map.hpp

Class Documentation

class bitbots_localization::Map

Stores a map for a messurement class (e.g. a map of the lines)

Public Functions

explicit Map(const std::string &name, const std::string &type, const double out_of_map_value)

Parameters

• name – of the environment. (E.g. webots)

• type – of the map. (E.g. lines)

• out_of_map_value – value used for padding the out of field area.

std::vector<double> provideRating(const RobotState &state, const std::vector<std::pair<double, double>> &observations)

double get_occupancy(double x, double y)

std::pair<double, double> observationRelative(std::pair<double, double> observation, double stateX, double stateY, double stateT)

nav_msgs::msg::OccupancyGrid get_map_msg(std::string frame_id, int threshold = -1)

Public Members

cv::Mat map

Private Members

double out_of_map_value_