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Map

OccupancyGridMap

This interface defines an occupancy-grid-based map.

Inputs

None.

Outputs

None.

Services

Port name Purpose Parameters Return data
Config Get the map configuration parameters. None OGMapConfig
Tile Get a tile from the map. The data member of the tile parameter should be empty when making the request. OGMapTile tile OGMapTile

OGMapConfig

Member Type Description
xScale double Scale on the x axis (metres per cell).
yScale double Scale on the y axis (metres per cell).
width unsigned long Number of cells along the x axis.
height unsigned long Number of cells along the y axis.
origin Pose2D Pose of the cell at (0, 0) in the real world.

OGMapTile

Member Type Description
column unsigned long X coordinate of the (0, 0) cell of this tile.
row unsigned long Y coordinate of the (0, 0) cell of this tile.
width unsigned long Number of cells along the x axis.
height unsigned long Number of cells along the y axis.
data sequence<octet> Occupancy value of the cells in (row, column) order.

FeatureMap

This interface defines a map based on detected features in 2D space.

Inputs

None.

Outputs

Port name Purpose Data
Features Features in the map. Features

Features

Member Type Description
time Time Time stamp.
features sequence<Feature> Sequence of features in the map.

Feature

Member Type Description
probability double Probability of the feature.

PoseFeature

Inherits Feature.

Member Type Description
pose Pose2D Pose of the feature.
covariance Covariance2D Covariance matrix of the feature's pose.

PointFeature

Inherits Feature.

Member Type Description
position Point2D Position of the feature.
covariance PointCovariance2D Covariance matrix of the feature's position.

LineFeature

Inherits Feature.

Member Type Description
rho double Length of the line vector in metres.
alpha double Angle of the line vector from the x axis in radians.
covariance PointCovaraince2D Covariance matrix of rho and alpha.
start Point2D Start point of the line segment.
end Point2D End point of the line segment.
startSighted boolean True if the start point of the line has been sighted (i.e. it is inside seen space).
endSighted boolean True if the end point of the line has been sighted (i.e. it is inside seen space).

Services

None.

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