.. _pilot.OccupancyMapData:

pilot.OccupancyMapData
======================

.. cpp:namespace:: pilot::OccupancyMapData

Class
-----

Map with environment information used for navigation.

Inherits from :ref:`pilot.GridMapData`.


Fields
------

.. cpp:member:: static const uchar FREE = 0
.. cpp:member:: static const uchar DYNAMIC = 253
.. cpp:member:: static const uchar PROHIBITED = 254
.. cpp:member:: static const uchar UNKNOWN = 255
.. cpp:member:: Image8 occupancy

	Represents the pixel grid.
	
	* 0 to 100 = wall
	* 101 to 200 = reflector
	* 254 = prohibited
	* 255 = unknown



Methods
-------

.. cpp:function:: Image8 to_mono_image() const

	convert to 8-bit format (0 to 255)

.. cpp:function:: Image8 to_rgba_image(int alpha) const

	for visualization

.. cpp:function:: ImageF32 to_float(float special, bool combined) const

	convert to float format (0 to 1)

.. cpp:function:: OccupancyMapData* to_reflector_map() const

	convert to reflector occupancy (shift 200 to 100, erase 0 to 100)

.. cpp:function:: OccupancyMapData* to_combined_map() const

	convert reflectors to normal occupancy (map 200 to 100)

.. cpp:function:: static Vector4uc to_rgba(int value, int alpha)

	convert occupancy to RGBA