pyrobosim.navigation.occupancy_grid.OccupancyGrid.__init__

OccupancyGrid.__init__(data, resolution, origin=(0.0, 0.0), occ_thresh=0.65, free_thresh=0.2)

Creates an occupancy grid.

Parameters:

  • data (numpy.ndarray) – 2D numeric array containing the occupancy data.

  • resolution (float) – Grid resolution, in meters.

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

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

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