Documentation

This unary stack contains libraries for various operations on the nav_msgs/OccupancyGrid type, specifically:

• Coordinate conversions between points, grid cell coordinates, and raw indices.
• A generic interface for ray tracing
• Overlaying and ray tracing point clouds onto a grid
• Simulation of 2d laser scans
• Union of multiple unaligned grids
• Shortest paths and obstacle inflation

There are more detailed doxygen descriptions in the code api.