FastTerrainMap Class Reference

A terrain map class built for fast and efficient sampling. More...

#include <fast_terrain_map.h>

Public Member Functions
	FastTerrainMap ()
	Constructor for FastTerrainMap Class.
void	loadData (int x_size, int y_size, std::vector< double > x_data, std::vector< double > y_data, std::vector< std::vector< double > > z_data, std::vector< std::vector< double > > nx_data, std::vector< std::vector< double > > ny_data, std::vector< std::vector< double > > nz_data, std::vector< std::vector< double > > z_data_filt, std::vector< std::vector< double > > nx_data_filt, std::vector< std::vector< double > > ny_data_filt, std::vector< std::vector< double > > nz_data_filt)
	Load data from a grid_map::GridMap object into a FastTerrainMap object.
void	loadFlat ()
	Load in a default terrain map 10x10m, four corners with flat terrain.
void	loadFlatElevated (double height)
	Load in a default terrain map 10x10m, four corners with elevated terrain.
void	loadSlope (double grade)
	Load in a default terrain map 10x10m, four corners with sloped terrain.
void	loadStep (double height)
	Load in a terrain map with a step at x = 0.
void	loadDataFromGridMap (const grid_map::GridMap map)
	Load data from a grid_map::GridMap object into a FastTerrainMap object.
bool	isInRange (const double x, const double y) const
	Check if map data is defined at a requested location.
double	getGroundHeight (const double x, const double y) const
	Return the ground height at a requested location.
std::array< double, 3 >	getSurfaceNormal (const double x, const double y) const
	Return the surface normal at a requested location.
double	getGroundHeightFiltered (const double x, const double y) const
	Return the filtered ground height at a requested location.
std::array< double, 3 >	getSurfaceNormalFiltered (const double x, const double y) const
	Return the filtered surface normal at a requested location.
Eigen::Vector3d	getSurfaceNormalFilteredEigen (const double x, const double y) const
	Return the filtered surface normal at a requested location.
Eigen::Vector3d	projectToMap (const Eigen::Vector3d point, const Eigen::Vector3d direction)
	Return the (approximate) intersection of the height map and a vector. Returned point lies exactly on the map but not entirely on the vector.
std::vector< double >	getXData () const
	Return the vector of x_data of the map.
std::vector< double >	getYData () const
	Return the vector of y_data of the map.
bool	isEmpty () const
	Determine if the map is empty.

Private Member Functions
int	getXIndex (const double x) const
	Return the x index.
int	getYIndex (const double y) const
	Return the y index.

Private Attributes
int	x_size_ = 0
	The number of elements in the x direction.
int	y_size_ = 0
	The number of elements in the y direction.
double	x_diff_
	Distance between nodes in x.
double	y_diff_
	Distance between nodes in y.
std::vector< double >	x_data_
	The vector of x data.
std::vector< double >	y_data_
	The vector of y data.
std::vector< std::vector< double > >	z_data_
	The nested vector of z data at each [x,y] location.
std::vector< std::vector< double > >	nx_data_
std::vector< std::vector< double > >	ny_data_
std::vector< std::vector< double > >	nz_data_
std::vector< std::vector< double > >	z_data_filt_
	The nested vector of filtered z data at each [x,y] location.
std::vector< std::vector< double > >	nx_data_filt_
std::vector< std::vector< double > >	ny_data_filt_
std::vector< std::vector< double > >	nz_data_filt_

Detailed Description

A terrain map class built for fast and efficient sampling.

FastTerrainMap is a class built for lightweight and efficient sampling of the terrain for height and slope.

Constructor & Destructor Documentation

FastTerrainMap()

FastTerrainMap::FastTerrainMap

(

)

Constructor for FastTerrainMap Class.

Returns

Constructed object of type FastTerrainMap

Member Function Documentation

getGroundHeight()

double FastTerrainMap::getGroundHeight	(	const double	x,
		const double	y
	)		const

Return the ground height at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

double ground height at location [x,y]

getGroundHeightFiltered()

double FastTerrainMap::getGroundHeightFiltered	(	const double	x,
		const double	y
	)		const

Return the filtered ground height at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

double ground height at location [x,y]

getSurfaceNormal()

std::array< double, 3 > FastTerrainMap::getSurfaceNormal	(	const double	x,
		const double	y
	)		const

Return the surface normal at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

std::array<double, 3> surface normal at location [x,y]

getSurfaceNormalFiltered()

std::array< double, 3 > FastTerrainMap::getSurfaceNormalFiltered	(	const double	x,
		const double	y
	)		const

Return the filtered surface normal at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

std::array<double, 3> surface normal at location [x,y]

getSurfaceNormalFilteredEigen()

Eigen::Vector3d FastTerrainMap::getSurfaceNormalFilteredEigen	(	const double	x,
		const double	y
	)		const

Return the filtered surface normal at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

std::array<double, 3> surface normal at location [x,y]

getXData()

std::vector< double > FastTerrainMap::getXData

(

)

const

Return the vector of x_data of the map.

Returns

std::vector<double> of x locations in the grid

getXIndex()

int FastTerrainMap::getXIndex ( const double  x ) const

inlineprivate

Return the x index.

Parameters

[in]

x

X location of the point

Returns

X index of location

getYData()

std::vector< double > FastTerrainMap::getYData

(

)

const

Return the vector of y_data of the map.

Returns

std::vector<double> of y locations in the grid

getYIndex()

int FastTerrainMap::getYIndex ( const double  y ) const

inlineprivate

Return the y index.

Parameters

[in]

y

Y location of the point

Returns

Y index of location

isEmpty()

bool FastTerrainMap::isEmpty

(

)

const

Determine if the map is empty.

Returns

boolean for map emptiness (true = empty)

isInRange()

bool FastTerrainMap::isInRange	(	const double	x,
		const double	y
	)		const

Check if map data is defined at a requested location.

Parameters

[in]	double	x location
[in]	double	y location

Returns

bool location [x,y] is or is not in range

loadData()

void FastTerrainMap::loadData	(	int	x_size,
		int	y_size,
		std::vector< double >	x_data,
		std::vector< double >	y_data,
		std::vector< std::vector< double > >	z_data,
		std::vector< std::vector< double > >	nx_data,
		std::vector< std::vector< double > >	ny_data,
		std::vector< std::vector< double > >	nz_data,
		std::vector< std::vector< double > >	z_data_filt,
		std::vector< std::vector< double > >	nx_data_filt,
		std::vector< std::vector< double > >	ny_data_filt,
		std::vector< std::vector< double > >	nz_data_filt
	)

Load data from a grid_map::GridMap object into a FastTerrainMap object.

Parameters

[in]	int	The number of elements in the x direction
[in]	int	The number of elements in the xy direction
[in]	std::vector<double>	The vector of x data
[in]	std::vector<double>	The vector of y data
[in]	std::vector<std::vector<double>>	The nested vector of z data at each [x,y] location
[in]	std::vector<std::vector<double>>	The nested vector of the x component of the gradient at each [x,y] location
[in]	std::vector<std::vector<double>>	The nested vector of the y component of the gradient at each [x,y] location
[in]	std::vector<std::vector<double>>	The nested vector of the z component of the gradient at each [x,y] location

loadDataFromGridMap()

void FastTerrainMap::loadDataFromGridMap

(

const grid_map::GridMap

map

)

Load data from a grid_map::GridMap object into a FastTerrainMap object.

Parameters

[in]

grid_map::GridMap

object with map data

loadFlatElevated()

void FastTerrainMap::loadFlatElevated

(

double

height

)

Load in a default terrain map 10x10m, four corners with elevated terrain.

Parameters

[in]

height

Height of elevated terrain

loadSlope()

void FastTerrainMap::loadSlope

(

double

grade

)

Load in a default terrain map 10x10m, four corners with sloped terrain.

Parameters

[in]

grade

Grade of terrain data (grade = tan(slope))

loadStep()

void FastTerrainMap::loadStep

(

double

height

)

Load in a terrain map with a step at x = 0.

Parameters

[in]

height

Height of step

projectToMap()

Eigen::Vector3d FastTerrainMap::projectToMap	(	const Eigen::Vector3d	point,
		const Eigen::Vector3d	direction
	)

Return the (approximate) intersection of the height map and a vector. Returned point lies exactly on the map but not entirely on the vector.

Parameters

[in]	point	The point at which the vector originates
[in]	direction	The direction along which to project the point

Member Data Documentation

nx_data_

std::vector<std::vector<double> > FastTerrainMap::nx_data_

private

The nested vector of the x component of the gradient at each [x,y] location

nx_data_filt_

std::vector<std::vector<double> > FastTerrainMap::nx_data_filt_

private

The nested vector of the x component of the filtered gradient at each [x,y] location

ny_data_

std::vector<std::vector<double> > FastTerrainMap::ny_data_

private

The nested vector of the y component of the gradient at each [x,y] location

ny_data_filt_

std::vector<std::vector<double> > FastTerrainMap::ny_data_filt_

private

The nested vector of the y component of the filtered gradient at each [x,y] location

nz_data_

std::vector<std::vector<double> > FastTerrainMap::nz_data_

private

The nested vector of the z component of the gradient at each [x,y] location

nz_data_filt_

std::vector<std::vector<double> > FastTerrainMap::nz_data_filt_

private

The nested vector of the z component of the filtered gradient at each [x,y] location

---

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

• quad_utils/include/quad_utils/fast_terrain_map.h
• quad_utils/src/fast_terrain_map.cpp