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Code Issues Packages Projects Releases Wiki Activity

Added occupancy grid footprintRadius parameter to clear obstacles under path

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matlabbe
2016-08-14 14:52:42 -04:00
parent ae7436a41b
commit 18b1931e7c
6 changed files with 142 additions and 57 deletions
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8
guilib/src/PreferencesDialog.cpp
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@@ -377,6 +377,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_footprintRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_map_occupancyFrom3DCloud, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projMapFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_projMaxGroundAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1220,6 +1221,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_erode->setChecked(false);
_ui->doubleSpinBox_map_footprintRadius->setValue(0);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_projMapFrame->setChecked(true);
@@ -1575,6 +1577,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
_ui->doubleSpinBox_map_footprintRadius->setValue(settings.value("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value()).toDouble());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_projMapFrame->setChecked(settings.value("projMapFrame", _ui->checkBox_projMapFrame->isChecked()).toBool());
@@ -1991,6 +1994,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked());
settings.setValue("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked());
@@ -3843,6 +3847,10 @@ bool PreferencesDialog::isGridMapEroded() const
{
return _ui->checkBox_map_erode->isChecked();
}
double PreferencesDialog::getGridMapFootprintRadius() const
{
return _ui->doubleSpinBox_map_footprintRadius->value();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->groupBox_map_occupancyFrom3DCloud->isChecked();