From 311ef237b4b3cd808672f776f47e6af4391d7858 Mon Sep 17 00:00:00 2001 From: ShisatoYano Date: Wed, 26 Feb 2025 15:19:42 +0000 Subject: [PATCH] defined class and constructor of binary occupancy grid map construction class --- .../mapping/binary/binary_grid_mapper.py | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/components/mapping/binary/binary_grid_mapper.py b/src/components/mapping/binary/binary_grid_mapper.py index d2e3b99..679a262 100644 --- a/src/components/mapping/binary/binary_grid_mapper.py +++ b/src/components/mapping/binary/binary_grid_mapper.py @@ -3,3 +3,23 @@ Author: Shisato Yano """ + + +class BinaryGridMapper: + """ + Binary occupancy grid map construction class + """ + + def __init__(self, width_m=60.0, height_m=60.0, resolution_m=1.0, + center_x_m=0.0, center_y_m=0.0, sensor_params=None): + """ + Constructor + width_m: Width size of map[m] + height_m: Height size of map[m] + resolution: Size of each cells[m] + center_x_m: Center x position of map[m] + center_y_m: Center y position of map[m] + sensor_params: Parameters object of sensor + """ + + self.params = sensor_params