AOccupancyMapGenerator Class Reference

Actor to Generate 2D occupancy map for navigation/localization with LineTraceSingleByChannel. More...

#include <OccupancyMapGenerator.h>

Inheritance diagram for AOccupancyMapGenerator:

Collaboration diagram for AOccupancyMapGenerator:

Public Member Functions
	AOccupancyMapGenerator ()
	Construct a new AOccupancyMapGenerator object. More...
bool	WriteToFile (int width, int height, float originx, float originy)
	Save .pgm and .yaml files. More...

Public Attributes
AStaticMeshActor *	Map
	Generate map to cover bounding box of this actor. Please select actor such as ground plane. More...
float	GridRes = 0.05
	[m/pixel] More...
float	MaxVerticalHeight = 10
	[m] More...
FString	Filename = "ue4_map"
TArray< uint8 >	OccupancyGrid

Protected Member Functions
virtual void	BeginPlay () override
	Generate occupancy map with given paramters and save to files. More...

Detailed Description

Actor to Generate 2D occupancy map for navigation/localization with LineTraceSingleByChannel.

Generate 2D occupancy map with given parameter and save to file with beginplay.

How to use: Place this actor to the level, set parameters(select Map and max vertical height), and play simulation, then map file will be saved.

See also

LineTraceSingleByChannel

UCLASS()

Constructor & Destructor Documentation

AOccupancyMapGenerator()

AOccupancyMapGenerator::AOccupancyMapGenerator

(

)

Construct a new AOccupancyMapGenerator object.

Member Function Documentation

BeginPlay()

virtual void AOccupancyMapGenerator::BeginPlay ( )

overrideprotectedvirtual

Generate occupancy map with given paramters and save to files.

Called when the game starts or when spawned.

WriteToFile()

bool AOccupancyMapGenerator::WriteToFile	(	int	width,
		int	height,
		float	originx,
		float	originy
	)

Save .pgm and .yaml files.

UFUNCTION()

Parameters

width
height
originx
originy

Returns

true

false

Member Data Documentation

Filename

FString AOccupancyMapGenerator::Filename = "ue4_map"

UPROPERTY(EditAnywhere)

GridRes

float AOccupancyMapGenerator::GridRes = 0.05

[m/pixel]

UPROPERTY(EditAnywhere)

Map

AStaticMeshActor* AOccupancyMapGenerator::Map

Generate map to cover bounding box of this actor. Please select actor such as ground plane.

UPROPERTY(EditAnywhere)

MaxVerticalHeight

float AOccupancyMapGenerator::MaxVerticalHeight = 10

[m]

UPROPERTY(EditAnywhere)

OccupancyGrid

TArray<uint8> AOccupancyMapGenerator::OccupancyGrid

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Tools/OccupancyMapGenerator.h