## repository: https://code.ros.org/svn/ros-pkg
<<StackHeader(occupancy_grid_utils)>>

== Documentation ==
This unary stack contains libraries for various operations on the <<MsgLink(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 [[http://docs.ros.org/groovy/api/occupancy_grid_utils/html|code api]].

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