笔记——20240413

最新推荐文章于 2024-07-20 16:46:53 发布

Jack Ju

最新推荐文章于 2024-07-20 16:46:53 发布

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文章标签：笔记 c++ 算法

本文链接：https://blog.csdn.net/qq_40464599/article/details/137711501

版权

文章详细描述了StaticLayer类中的三个函数：incomingMap处理cv::Mat映射信息，updateCosts更新成本地图区域，以及updateBounds设置机器人边界。这些函数涉及IT技术中的图像处理和路径规划算法。

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修改点1：
void StaticLayer::incomingMap(cv::Mat map_info)

int k = 0;
  for (unsigned int j = size_y - 1; j > 0; j--)
  {
    for (unsigned int i = 0; i < size_x; i++)
    {
      //todo:
      //unsigned char value = 255;
      ///unsigned char value = 50;  //待处理new_map->data[index]
      //std::cout << "Please input number:" << std::endl;
      //std::cin >> value;
      //std::cout << "StaticLayer::incomingMap24...index = "<< index<<std::endl;
      //std::cout << "1"<<std::endl
      // std::cout << "map_info[" << index << "] = " << static_cast<int>(map_info.at<unsigned char>(i, j)) << std::endl;
      //index = MAP_IDX(size_x,i,size_y - j - 1);
       costmap_[index] = interpretValue((254 - map_info.at<unsigned char>(j, i)));
       costmap_[index] = interpretValue((254 - map_info.at<unsigned char>(j, i)));
       //std::cout << "255 - map_info[" << index << "] = " << static_cast<int>(254 - map_info.at<unsigned char>(i, j)) << std::endl;
      ++index;
    }
  }

修改点2：

void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
   min_i = 0;
   min_j = 0;
    max_i = size_x_;
    max_j =size_y_;

  std::cout << "min_i" <<min_i<< std::endl;
  std::cout << "min_j = " << min_j <<std::endl;
  std::cout << "max_j = " << max_j<<std::endl;
  std::cout << "max_i:" <<max_i << std::endl;

修改点3

void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                               double* max_x, double* max_y)
{
  *min_x = 0;
  *min_y = 0;
  *max_x = size_x_;
  *max_y =size_y_;
                    
}