This unary stack contains libraries for various operations on the nav_msgs/OccupancyGrid type, specifically:

  • Coordinate conversions between points, grid cell coordinates, and raw indices.
  • A generic interface for ray tracing
  • Overlaying and ray tracing point clouds onto a grid
  • Simulation of 2d laser scans
  • Union of multiple unaligned grids
  • Shortest paths and obstacle inflation

There are more detailed doxygen descriptions in the code api.

Wiki: occupancy_grid_utils (last edited 2014-04-04 13:42:07 by GaelEcorchard)