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.
See also
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.
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
Type : | FLOAT32 |
---|
Unit: meter
The map resolution as edge length of a cell.
Type : | UINT32 |
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Number of cells in x direction.
Type : | UINT32 |
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Number of cells in y direction.
Type : | rst.geometry.Pose |
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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.
Type : | OCTET-VECTOR |
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The map data, in row-major order.
Occupancy probabilities are signed 8-bit integer in the range [0,100]. Unknown is -1.
message OccupancyGrid2DInt {
/**
* The map resolution as edge length of a cell.
*/
// @unit(meter)
required float resolution = 1;
/**
* Number of cells in x direction.
*/
required uint32 width = 2;
/**
* Number of cells in y direction.
*/
required uint32 height = 3;
/**
* 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.
*/
required geometry.Pose origin = 4;
/**
* The map data, in row-major order.
*
* Occupancy probabilities are signed 8-bit integer in the range
* [0,100]. Unknown is -1.
*/
required bytes map = 5;
}
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