Package lejos.robotics.mapping

Class OccupancyGridMap

java.lang.Object

lejos.robotics.mapping.OccupancyGridMap

public class OccupancyGridMap
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
private byte[][]	cells
private double	freeThreshold
private int	height
private double	occupiedThreshold
private double	resolution
private int	width

Constructor Summary

Constructors

Constructor and Description
OccupancyGridMap(int width, int height, double freeThreshold, double occupiedThreshold, double resolution)

Method Summary

Modifier and Type	Method and Description
double	getFreeThreshold()
int	getHeight()
int	getOccupied(int x, int y)
double	getOccupiedThreshold()
double	getResolution()
int	getWidth()
boolean	isFree(int x, int y)
boolean	isOccupied(int x, int y)
void	setOccupied(int x, int y, int occupied)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

width

private int width

height

private int height

freeThreshold

private double freeThreshold

occupiedThreshold

private double occupiedThreshold

resolution

private double resolution

cells

private byte[][] cells

Constructor Detail

OccupancyGridMap

public OccupancyGridMap(int width,
                        int height,
                        double freeThreshold,
                        double occupiedThreshold,
                        double resolution)

Method Detail

getWidth

public int getWidth()

getHeight

public int getHeight()

getResolution

public double getResolution()

getFreeThreshold

public double getFreeThreshold()

getOccupiedThreshold

public double getOccupiedThreshold()

setOccupied

public void setOccupied(int x,
                        int y,
                        int occupied)

getOccupied

public int getOccupied(int x,
                       int y)

isOccupied

public boolean isOccupied(int x,
                          int y)

isFree

public boolean isFree(int x,
                      int y)