pyrobosim.navigation.occupancy_grid.OccupancyGrid.__init__

OccupancyGrid.__init__(data: ndarray, resolution: float, origin: Sequence[float] = (0.0, 0.0), occ_thresh: float = 0.65, free_thresh: float = 0.2) → None

Creates an occupancy grid.

Parameters:

  • data – 2D numeric array containing the occupancy data.

  • resolution – Grid resolution, in meters.

  • origin – XY position of the grid origin, in meters, defaults to (0, 0).

  • occ_thresh – Probability threshold for a cell being occupied (0 to 1), defaults to 0.65.

  • free_thresh – Probability threshold for a cell being free (0 to 1), defaults to 0.2.