C++ (Cpp) GridMap::add Examples

Example #1

File: GridMapTest.cpp Project: vcmman/grid_map

TEST(GridMap, Move)
{
    GridMap map;
    map.setGeometry(Length(8.1, 5.1), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5)
    map.add("layer", 0.0);
    map.setBasicLayers(map.getLayers());
    std::vector<BufferRegion> regions;
    map.move(Position(-3.0, -2.0), regions);
    Index startIndex = map.getStartIndex();

    EXPECT_EQ(3, startIndex(0));
    EXPECT_EQ(2, startIndex(1));

    EXPECT_FALSE(map.isValid(Index(0, 0))); // TODO Check entire map.
    EXPECT_TRUE(map.isValid(Index(3, 2)));
    EXPECT_FALSE(map.isValid(Index(2, 2)));
    EXPECT_FALSE(map.isValid(Index(3, 1)));
    EXPECT_TRUE(map.isValid(Index(7, 4)));

    EXPECT_EQ(2, regions.size());
    EXPECT_EQ(0, regions[0].getStartIndex()[0]);
    EXPECT_EQ(0, regions[0].getStartIndex()[1]);
    EXPECT_EQ(3, regions[0].getSize()[0]);
    EXPECT_EQ(5, regions[0].getSize()[1]);
    EXPECT_EQ(0, regions[1].getStartIndex()[0]);
    EXPECT_EQ(0, regions[1].getStartIndex()[1]);
    EXPECT_EQ(8, regions[1].getSize()[0]);
    EXPECT_EQ(2, regions[1].getSize()[1]);
}

Example #2

File: ElevationMap.cpp Project: gaoyunhua/elevation_mapping

bool ElevationMap::publishFusedElevationMap()
{
  if (!hasFusedMapSubscribers()) return false;
  boost::recursive_mutex::scoped_lock scopedLock(fusedMapMutex_);
  GridMap fusedMapCopy = fusedMap_;
  scopedLock.unlock();
  fusedMapCopy.add("uncertainty_range", fusedMapCopy.get("upper_bound") - fusedMapCopy.get("lower_bound"));
  grid_map_msgs::GridMap message;
  GridMapRosConverter::toMessage(fusedMapCopy, message);
  elevationMapFusedPublisher_.publish(message);
  ROS_DEBUG("Elevation map (fused) has been published.");
  return true;
}

Example #3

File: GridMapCvProcessingTest.cpp Project: ethz-asl/grid_map

TEST(GridMapCvProcessing, changeResolution)
{
  // Create grid map.
  GridMap mapIn;
  mapIn.setGeometry(grid_map::Length(2.0, 1.0), 0.01);
  mapIn.add("layer", 1.0);
  for (grid_map::CircleIterator iterator(mapIn, mapIn.getPosition(), 0.2); !iterator.isPastEnd(); ++iterator) {
    mapIn.at("layer", *iterator) = 2.0;
  }

  // Change resolution.
  GridMap mapOut;
  EXPECT_TRUE(GridMapCvProcessing::changeResolution(mapIn, mapOut, 0.1));

  // Check data.
  EXPECT_TRUE((mapIn.getLength() == mapOut.getLength()).all());
  EXPECT_TRUE(mapIn.getPosition() == mapOut.getPosition());
  EXPECT_TRUE((mapIn.getSize() == mapOut.getSize() * 10).all());
  EXPECT_EQ(mapIn["layer"](0, 0), mapOut["layer"](0, 0)); // Corner.
  EXPECT_EQ(mapIn.atPosition("layer", mapIn.getPosition()), mapOut.atPosition("layer", mapOut.getPosition())); // Center.
}