How can I find the index of the cell from map coordinates ?

asked 2018-03-11 11:01:40 -0500

Developer
35 ●19 ●24 ●28

Hi

I have the (x,y,z) position of the map. From that information, how can I find the cell index and also costmap value(free, obstacle ...) related to this coordinates ?

thanks

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answered 2018-03-12 12:18:55 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

worldToMap

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Hi David, I could not understand your solution proposal. Let me explain the case better. I have a position(x,y,z) of a map on Rviz. And from that position information, I want to first find related cell index(I m no sure, if gridcell or costmap).Than I want to change this cost value manually.

Developer ( 2018-03-12 14:11:12 -0500 )edit

Do you have a Costmap2dROS object that you are manipulating in code?

David Lu ( 2018-03-13 16:38:37 -0500 )edit

No I don t have. I try to get the position of the related grid from the position of the interactive marker that I put on the Rviz (map). And change the value of this grid.

Developer ( 2018-03-14 18:29:19 -0500 )edit

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answered 2018-03-14 01:24:11 -0500

lsw

46 ●1 ●3 ●5 http://www.codeinrobot.com/

David is right , in detail , you can see the code in worldToMap below:

  /**
   * @brief  Given two map coordinates... compute the associated index
   * @param mx The x coordinate
   * @param my The y coordinate
   * @return The associated index
   */
  inline unsigned int getIndex(unsigned int mx, unsigned int my) const
  {
    return my * size_x_ + mx;
  }

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thanks man !

Developer ( 2018-03-14 18:27:58 -0500 )edit

1

This only works if the unsigned ints are already in map coordinates. You first have to run worldToMap or the equivalent math operations

David Lu ( 2018-03-14 20:43:48 -0500 )edit

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How can I find the index of the cell from map coordinates ?

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