.. _package-rst-navigation:
========================
Package rst.navigation
========================
A Navigation is a field of study that focuses on the process of
monitoring and controlling the movement of a craft or vehicle from
one place to another.
This package contains data type definitions related to (robot)
navigation.
.. seealso::
Wikipedia article containing the definition above
http://en.wikipedia.org/wiki/navigation
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"1" [label=< | OccupancyGrid2DInt |
|
| FLOAT32 | resolution |
| UINT32 | width |
| UINT32 | height |
| Pose | origin |
| OCTET-VECTOR | map |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Pose |
|
| Translation | translation |
| Rotation | rotation |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | Rotation |
|
| FLOAT64 | qw |
| FLOAT64 | qx |
| FLOAT64 | qy |
| FLOAT64 | qz |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"1":origin -> "2" [];
"2":rotation -> "4" [];
"2":translation -> "3" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`OccupancyGrid2DInt `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-navigation-occupancygrid2dint:
Message OccupancyGrid2DInt
--------------------------
.. container:: message-rst-navigation-occupancygrid2dint-multi
.. container:: message-rst-navigation-occupancygrid2dint-documentation
.. py: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.
.. codeauthor:: Leon Ziegler
.. py:attribute:: resolution
:type: :py:class:`FLOAT32`
**Unit**: meter
The map resolution as edge length of a cell.
.. py:attribute:: width
:type: :py:class:`UINT32`
Number of cells in x direction.
.. py:attribute:: height
:type: :py:class:`UINT32`
Number of cells in y direction.
.. py:attribute:: origin
:type: :py:class:`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.
.. py:attribute:: map
:type: :py:class:`OCTET-VECTOR`
The map data, in row-major order.
Occupancy probabilities are signed 8-bit integer in the range
[0,100]. Unknown is -1.
.. container:: message-rst-navigation-occupancygrid2dint-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/navigation/OccupancyGrid2DInt.proto
:lines: 16-54
:language: protobuf
:emphasize-lines: 7-7,12-12,17-17,29-29,37-37