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map_base

BaseMap

Base map class. Contains basic interface for converting from map to world frame, and vise-versa

Source code in maps/map_base.py
class BaseMap:
    """
    Base map class.
    Contains basic interface for converting from map to world frame, and vise-versa
    """

    def __init__(
            self,
            map_resolution=0.1,
    ):
        """
        Args:
            map_resolution (float): map resolution
        """
        # Set internal values
        self.map_resolution = map_resolution
        self.map_size = None

    def load_map(self, *args, **kwargs):
        """
        Load's this map internally
        """
        # Run internal method and store map size
        self.map_size = self._load_map(*args, **kwargs)

    def _load_map(self, *args, **kwargs):
        """
        Arbitrary function to load this map. Should be implemented by subclass

        Returns:
            int: Size of the loaded map
        """
        raise NotImplementedError()

    def map_to_world(self, xy):
        """
        Transforms a 2D point in map reference frame into world (simulator) reference frame

        Args:
            xy (2-array or (N, 2)-array): 2D location(s) in map reference frame (in image pixel space)

        Returns:
            2-array or (N, 2)-array: 2D location(s) in world reference frame (in metric space)
        """
        axis = 0 if len(xy.shape) == 1 else 1
        return np.flip((xy - self.map_size / 2.0) * self.map_resolution, axis=axis)

    def world_to_map(self, xy):
        """
        Transforms a 2D point in world (simulator) reference frame into map reference frame

            xy: 2D location in world reference frame (metric)
        :return: 2D location in map reference frame (image)
        """
        return np.flip((np.array(xy) / self.map_resolution + self.map_size / 2.0)).astype(np.int)

__init__(map_resolution=0.1)

Parameters:

Name Type Description Default
map_resolution float

map resolution

0.1
Source code in maps/map_base.py
def __init__(
        self,
        map_resolution=0.1,
):
    """
    Args:
        map_resolution (float): map resolution
    """
    # Set internal values
    self.map_resolution = map_resolution
    self.map_size = None

load_map(*args, **kwargs)

Load's this map internally

Source code in maps/map_base.py
def load_map(self, *args, **kwargs):
    """
    Load's this map internally
    """
    # Run internal method and store map size
    self.map_size = self._load_map(*args, **kwargs)

map_to_world(xy)

Transforms a 2D point in map reference frame into world (simulator) reference frame

Parameters:

Name Type Description Default
xy 2-array or (N, 2)-array

2D location(s) in map reference frame (in image pixel space)

required

Returns:

Type Description

2-array or (N, 2)-array: 2D location(s) in world reference frame (in metric space)

Source code in maps/map_base.py
def map_to_world(self, xy):
    """
    Transforms a 2D point in map reference frame into world (simulator) reference frame

    Args:
        xy (2-array or (N, 2)-array): 2D location(s) in map reference frame (in image pixel space)

    Returns:
        2-array or (N, 2)-array: 2D location(s) in world reference frame (in metric space)
    """
    axis = 0 if len(xy.shape) == 1 else 1
    return np.flip((xy - self.map_size / 2.0) * self.map_resolution, axis=axis)

world_to_map(xy)

Transforms a 2D point in world (simulator) reference frame into map reference frame

xy: 2D location in world reference frame (metric)

:return: 2D location in map reference frame (image)

Source code in maps/map_base.py
def world_to_map(self, xy):
    """
    Transforms a 2D point in world (simulator) reference frame into map reference frame

        xy: 2D location in world reference frame (metric)
    :return: 2D location in map reference frame (image)
    """
    return np.flip((np.array(xy) / self.map_resolution + self.map_size / 2.0)).astype(np.int)