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k-kleber wants to merge 83 commits into SUIND:master from ANYbotics:master

.gitignore

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@@ Expand Up / @@ -36,4 +36,5 @@ @@
     # OS X
     .DS_Store
-    grid_map_pcl/data/
+    grid_map_pcl/data/*
+    !grid_map_pcl/data/input_cloud.pcd

README.md

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grid_map/CHANGELOG.rst

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@@ Expand Up / @@ -2,6 +2,12 @@ @@
     Changelog for package grid_map
     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.7.0 (2022-03-17)
+    ------------------
+.6.4 (2020-12-04)
+    ------------------
 .6.2 (2019-10-14)
     ------------------
@@ Expand Down @@

grid_map/package.xml

            
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    @@ -1,10 +1,10 @@
  
    <?xml version="1.0"?>

    <package format="2">

      <name>grid_map</name>

      <version>1.6.2</version>

      <version>1.7.18</version>

      <description>Meta-package for the universal grid map library.</description>

      <maintainer email="mwulf@anybotics.com">Maximilian Wulf</maintainer>

      <maintainer email="ynava@anybotics.com">Yoshua Nava</maintainer>

      <maintainer email="mgaertner@anybotics.com">Magnus Gaertner</maintainer>

      <maintainer email="magostinucci@anybotics.com">Mathieu Agostinucci</maintainer>

      <license>BSD</license>

      <url type="website">http://github.com/anybotics/grid_map</url>

      <url type="bugtracker">http://github.com/anybotics/grid_map/issues</url>

grid_map_core/CHANGELOG.rst

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     Changelog for package grid_map_core
     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.7.0 (2022-03-17)
+    ------------------
+.6.4 (2020-12-04)
+    ------------------
 .6.2 (2019-10-14)
     ------------------
     * Implements a grid map transformation from one map frame to another map frame given the transform between the frames.
@@ Expand Down @@

grid_map_core/CMakeLists.txt

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@@ Expand Up / @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5.1) @@
     project(grid_map_core)
     set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+    add_compile_options(-Wall -Wextra -Wpedantic)
     set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
     ## Find catkin macros and libraries
@@ Expand Down @@

grid_map_core/include/grid_map_core/BufferRegion.hpp

            
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    @@ -35,8 +35,8 @@ class BufferRegion
  
      constexpr static unsigned int nQuadrants = 4;

      BufferRegion();

      BufferRegion(const Index& startIndex, const Size& size, const BufferRegion::Quadrant& quadrant);

      virtual ~BufferRegion();

      BufferRegion(Index startIndex, Size size, BufferRegion::Quadrant quadrant);

      virtual ~BufferRegion() = default;

      const Index& getStartIndex() const;

      void setStartIndex(const Index& startIndex);

    @@ -48,7 +48,7 @@ class BufferRegion
  
     private:

      //! Start index (typically top-left) of the buffer region.

      Index staretIndex_;

      Index startIndex_;

      //! Size of the buffer region.

      Size size_;

grid_map_core/include/grid_map_core/CubicInterpolation.hpp

            
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    @@ -35,7 +35,7 @@ class GridMap;
  
     * necessary for interpolation. These are either 16

     * function values in the case of bicubic convolution interpolation

     * or function values and their derivatives for the case

     * of standard bicubic inteprolation.

     * of standard bicubic interpolation.

     */

    using FunctionValueMatrix = Eigen::Matrix4d;

    @@ -46,7 +46,7 @@ using FunctionValueMatrix = Eigen::Matrix4d;
  
     * @param[in] nElem - number of elements in the container

     * @return index that is within [0, nElem-1].

     */

    unsigned int bindIndexToRange(int idReq, unsigned int nElem);

    unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem);

    /*!

    @@ -74,7 +74,7 @@ static const Eigen::Matrix4d cubicInterpolationConvolutionMatrix {
  
                             -1.0,  3.0, -3.0,  1.0).finished() };

    /*

     * Index of the middle knot for bicubic inteprolation. This is

     * Index of the middle knot for bicubic interpolation. This is

     * the function value with subscripts (0,0), i.e. f00 in

     * https://en.wikipedia.org/wiki/Bicubic_interpolation

     * In the grid map it corresponds to the grid map point closest to the

    @@ -100,7 +100,7 @@ bool getNormalizedCoordinates(const GridMap &gridMap, const Position &queriedPos
  
                                  Position *position);

    /*

     * Queries the grid map for function values at the coordiantes which are neccesary for

     * Queries the grid map for function values at the coordinates which are necessary for

     * performing the interpolation. The right function values are then assembled

     * in a matrix.

     * @param[in]  gridMap - grid map with the data

    @@ -119,7 +119,7 @@ bool assembleFunctionValueMatrix(const GridMap &gridMap, const std::string &laye
  
     * Performs convolution in 1D. the function requires 4 function values

     * to compute the convolution. The result is interpolated data in 1D.

     * @param[in]  t - normalized coordinate (x or y)

     * @param[in]  functionValues - vector of 4 function values neccessary to perform

     * @param[in]  functionValues - vector of 4 function values necessary to perform

     *                            interpolation in 1 dimension.

     * @return - interpolated value at normalized coordinate t

     */

    @@ -177,7 +177,7 @@ struct DataMatrix
  
    /*

     * Interpolation is performed on a unit square.

     * Hence we need to compute 4 corners of that unit square,

     * Hence, we need to compute 4 corners of that unit square,

     * and find their indices in the grid map. IndicesMatrix

     * is a container that stores those indices. Each index

     * contains two numbers (row number, column number) in the

    @@ -313,7 +313,7 @@ double mixedSecondOrderDerivativeAt(const Matrix &layerData, const Index &index,
  
    double evaluatePolynomial(const FunctionValueMatrix &functionValues, double tx, double ty);

    /*

     * Assemble function value matrix from small submatrices containing function values

     * Assemble function value matrix from small sub-matrices containing function values

     * or derivative values at the corners of the unit square.

     * See https://en.wikipedia.org/wiki/Bicubic_interpolation for details.

     *

grid_map_core/include/grid_map_core/GridMap.hpp

            
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    @@ -8,13 +8,13 @@
  
    #pragma once

    #include "grid_map_core/TypeDefs.hpp"

    #include "grid_map_core/SubmapGeometry.hpp"

    #include "grid_map_core/BufferRegion.hpp"

    #include "grid_map_core/SubmapGeometry.hpp"

    #include "grid_map_core/TypeDefs.hpp"

    // STL

    #include <vector>

    #include <unordered_map>

    #include <vector>

    // Eigen

    #include <Eigen/Core>

    @@ -37,8 +37,7 @@ class SubmapGeometry;
  
     * - "surface_normal_x", "surface_normal_y", "surface_normal_z"

     * etc.

     */

    class GridMap

    {

    class GridMap {

     public:

      // Type traits for use with template methods/classes using GridMap as a template parameter.

      typedef grid_map::DataType DataType;

    @@ -48,7 +47,7 @@ class GridMap
  
       * Constructor.

       * @param layers a vector of strings containing the definition/description of the data layer.

       */

      GridMap(const std::vector<std::string>& layers);

      explicit GridMap(const std::vector<std::string>& layers);

      /*!

       * Emtpy constructor.

    @@ -74,8 +73,7 @@ class GridMap
  
       * @param resolution the cell size in [m/cell].

       * @param position the 2d position of the grid map in the grid map frame [m].

       */

      void setGeometry(const Length& length, const double resolution,

                       const Position& position = Position::Zero());

      void setGeometry(const Length& length, const double resolution, const Position& position = Position::Zero());

      /*!

       * Set the geometry of the grid map from submap geometry information.

    @@ -88,7 +86,7 @@ class GridMap
  
       * @param layer the name of the layer.

       * @value value the value to initialize the cells with.

       */

      void add(const std::string& layer, const double value = NAN);

      void add(const std::string& layer, const float value = NAN);

      /*!

       * Add a new data layer (if the layer already exists, overwrite its data, otherwise add layer and data).

    @@ -127,7 +125,7 @@ class GridMap
  
       * @return grid map data as matrix.

       * @throw std::out_of_range if no map layer with name `layer` is present.

       */

      const Matrix& operator [](const std::string& layer) const;

      const Matrix& operator[](const std::string& layer) const;

      /*!

       * Returns the grid map data for a layer as non-const. Use this method

    @@ -136,7 +134,7 @@ class GridMap
  
       * @return grid map data.

       * @throw std::out_of_range if no map layer with name `layer` is present.

       */

      Matrix& operator [](const std::string& layer);

      Matrix& operator[](const std::string& layer);

      /*!

       * Removes a layer from the grid map.

    @@ -283,8 +281,7 @@ class GridMap
  
       * @param vector the vector with the values of the data type.

       * @return true if successful, false if no valid data available.

       */

      bool getVector(const std::string& layerPrefix, const Index& index,

                     Eigen::Vector3d& vector) const;

      bool getVector(const std::string& layerPrefix, const Index& index, Eigen::Vector3d& vector) const;

      /*!

       * Gets a submap from the map. The requested submap is specified with the requested

    @@ -309,12 +306,12 @@ class GridMap
  
       * @param[out] isSuccess true if successful, false otherwise.

       * @return submap (is empty if success is false).

       */

      GridMap getSubmap(const Position& position, const Length& length, Index& indexInSubmap,

                        bool& isSuccess) const;

      GridMap getSubmap(const Position& position, const Length& length, Index& indexInSubmap, bool& isSuccess) const;

      /*!

       * Apply isometric transformation (rotation + offset) to grid map and returns the transformed map.

       * Note: The returned map may not have the same length since it's geometric description contains

       * Note: The transformation will only be applied to the height layer of the grid map, other layers will remain untouched.

       * the original map.

       * @param[in] transform the requested transformation to apply.

       * @param[in] heightLayerName the height layer of the map.

    @@ -325,26 +322,33 @@ class GridMap
  
       * @return transformed map.

       * @throw std::out_of_range if no map layer with name `heightLayerName` is present.

       */

      GridMap getTransformedMap(const Eigen::Isometry3d& transform, const std::string& heightLayerName,

                                const std::string& newFrameId,

      GridMap getTransformedMap(const Eigen::Isometry3d& transform, const std::string& heightLayerName, const std::string& newFrameId,

                                const double sampleRatio = 0.0) const;

       /*!

        * Set the position of the grid map.

        * Note: This method does not change the data stored in the grid map and

        * is complementary to the `move(...)` method. For a comparison between

        * the `setPosition` and the `move` method, see the `move_demo_node.cpp`

        * file of the `grid_map_demos` package.

        * @param position the 2d position of the grid map in the grid map frame [m].

        */

       void setPosition(const Position& position);

      /*!

       * Move the grid map w.r.t. to the grid map frame. Use this to move the grid map

       * boundaries without moving the grid map data. Takes care of all the data handling,

       * such that the grid map data is stationary in the grid map frame.

       * Note: For a comparison between the `setPosition` and the `move` method,

       * see the `move_demo_node.cpp` file of the `grid_map_demos` package.

       * Set the position of the grid map.

       * Note: This method does not change the data stored in the grid map and

       * is complementary to the `move(...)` method. For a comparison between

       * the `setPosition` and the `move` method, see the `move_demo_node.cpp`

       * file of the `grid_map_demos` package.

       * @param position the 2d position of the grid map in the grid map frame [m].

       */

      void setPosition(const Position& position);

      /*!

       * Relocates the region captured by grid map w.r.t. to the static grid map frame. Use this to move the grid map boundaries

       * without relocating the grid map data. Takes care of all the data handling, such that the grid map data is stationary in the grid map

       * frame.

       * - Data in the overlapping region before and after the position change remains stored.

       * - Data that falls outside the map at its new position is discarded.

       *  - Cells that cover previously unknown regions are emptied (set to nan).

       *  The data storage is implemented as two-dimensional circular buffer to minimize computational effort.

       *

       *  Note: Due to the circular buffer structure, neighbouring indices might not fall close in the map frame.

       *  This assumption only holds for indices obtained by getUnwrappedIndex().

       *

       *  Note: For a comparison between the `setPosition` and the `move` method, see the `move_demo_node.cpp` file of the `grid_map_demos` package.

       *

       * @param position the new location of the grid map in the map frame.

       * @param newRegions the regions of the newly covered / previously uncovered regions of the buffer.

       * @return true if map has been moved, false otherwise.

    @@ -369,8 +373,7 @@ class GridMap
  
       * @param layers the layers that are copied if not all layers are used.

       * @return true if successful.

       */

      bool addDataFrom(const GridMap& other, bool extendMap,

                       bool overwriteData, bool copyAllLayers,

      bool addDataFrom(const GridMap& other, bool extendMap, bool overwriteData, bool copyAllLayers,

                       std::vector<std::string> layers = std::vector<std::string>());

      /*!

    @@ -515,7 +518,6 @@ class GridMap
  
       */

      bool atPositionLinearInterpolated(const std::string& layer, const Position& position, float& value) const;

      /*!

       * Get cell data at requested position, cubic convolution

       * interpolated from 4x4 cells. At the edge of the map,

    @@ -527,8 +529,7 @@ class GridMap
  
       * @param[out] value the data of the cell.

       * @return true if bicubic convolution interpolation was successful.

       */

      bool atPositionBicubicConvolutionInterpolated(const std::string& layer, const Position& position,

                                                 float& value) const;

      bool atPositionBicubicConvolutionInterpolated(const std::string& layer, const Position& position, float& value) const;

      /*!

       * Get cell data at requested position, cubic interpolated

    @@ -541,9 +542,7 @@ class GridMap
  
       * @param[out] value the data of the cell.

       * @return true if bicubic interpolation was successful.

       */

      bool atPositionBicubicInterpolated(const std::string& layer, const Position& position,

                                                 float& value) const;

      bool atPositionBicubicInterpolated(const std::string& layer, const Position& position, float& value) const;

      /*!

       * Resize the buffer.

    @@ -580,11 +579,11 @@ class GridMap
  
      //! Size of the buffer (rows and cols of the data structure).

      Size size_;

      //! Circular buffer start indeces.

      //! Circular buffer start indices.

      Index startIndex_;

     public:

      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    };

    } /* namespace */

    }  // namespace grid_map

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