Changes from feedback on ROS Book chapter.

grid_map/src/GridMapRosConverter.cpp

@@ -211,7 +211,7 @@ void GridMapRosConverter::toOccupancyGrid(const grid_map::GridMap& gridMap,
   const float cellMax = 100;
   const float cellRange = cellMax - cellMin;
 
-  for (GridMapIterator iterator(gridMap); !iterator.isPassedEnd(); ++iterator) {
+  for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
     float value = (gridMap.at(layer, *iterator) - dataMin) / (dataMax - dataMin);
     if (isnan(value))
       value = -1;
@@ -233,7 +233,7 @@ void GridMapRosConverter::toGridCells(const grid_map::GridMap& gridMap, const st
   gridCells.cell_width = gridMap.getResolution();
   gridCells.cell_height = gridMap.getResolution();
 
-  for (GridMapIterator iterator(gridMap); !iterator.isPassedEnd(); ++iterator) {
+  for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
     if (!gridMap.isValid(*iterator, layer)) continue;
     if (gridMap.at(layer, *iterator) >= lowerThreshold
         && gridMap.at(layer, *iterator) <= upperThreshold) {
@@ -310,7 +310,7 @@ bool GridMapRosConverter::addLayerFromImage(const sensor_msgs::Image& image,
     return false;
   }
 
-  for (GridMapIterator iterator(gridMap); !iterator.isPassedEnd(); ++iterator) {
+  for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
     // Set transparent values.
     if (image.encoding == sensor_msgs::image_encodings::BGRA8) {
       const auto& cvAlpha = cvPtrAlpha->image.at<cv::Vec4b>((*iterator)(0),
@@ -369,7 +369,7 @@ bool GridMapRosConverter::addColorLayerFromImage(const sensor_msgs::Image& image
     return false;
   }
 
-  for (GridMapIterator iterator(gridMap); !iterator.isPassedEnd(); ++iterator) {
+  for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
     const auto& cvColor = cvPtr->image.at<cv::Vec3b>((*iterator)(0),
                                                      (*iterator)(1));
     Eigen::Vector3i colorVector;

grid_map_core/include/grid_map_core/GridMap.hpp

@@ -77,7 +77,7 @@ class GridMap
   /*!
    * Checks if data layer exists.
    * @param layer the name of the layer.
-   * @return true if type exists, false otherwise.
+   * @return true if layer exists, false otherwise.
    */
   bool exists(const std::string& layer) const;
 
@@ -90,7 +90,7 @@ class GridMap
   const grid_map::Matrix& get(const std::string& layer) const;
 
   /*!
-   * Returns the grid map data for a type as non-const. Use this method
+   * Returns the grid map data for a layer as non-const. Use this method
    * with care!
    * @param layer the name of the layer to be returned.
    * @return grid map data.
@@ -107,7 +107,7 @@ class GridMap
   const grid_map::Matrix& operator [](const std::string& layer) const;
 
   /*!
-   * Returns the grid map data for a type as non-const. Use this method
+   * Returns the grid map data for a layer as non-const. Use this method
    * with care!
    * @param layer the name of the layer to be returned.
    * @return grid map data.
@@ -132,7 +132,7 @@ class GridMap
    * Set the basic layers that need to be valid for a cell to be considered as valid.
    * Also, the basic layers are set to NAN when clearing the cells with `clear()`.
    * By default the list of basic layers is empty.
-   * @param basicLayers the list of types that are the basic types of the map.
+   * @param basicLayers the list of layer that are the basic types of the map.
    */
   void setBasicLayers(const std::vector<std::string>& basicLayers);
 
@@ -279,14 +279,20 @@ class GridMap
   void move(const grid_map::Position& position);
 
   /*!
-   * Clears all cells (set to NAN) for all types defined as basic type.
-   * Clears all types if no basic types are defined.
+   * Clears all cells (set to NAN) for a layer.
+   * @param layer the layer to be cleared.
+   */
+  void clear(const std::string& layer);
+
+  /*!
+   * Clears all cells (set to NAN) for all basic layers.
    * Header information (geometry etc.) remains valid.
    */
-  void clear();
+  void clearBasic();
 
   /*!
-   * Clears all cells of all types of the grid map (less efficient than clear()).
+   * Clears all cells of all layers.
+   * If basic layers are used, clearBasic() is preferred as it is more efficient.
    * Header information (geometry etc.) remains valid.
    */
   void clearAll();

grid_map_core/include/grid_map_core/iterators/CircleIterator.hpp

@@ -60,10 +60,10 @@ class CircleIterator
   CircleIterator& operator ++();
 
   /*!
-   * Indicates if iterator is passed end.
+   * Indicates if iterator is past end.
    * @return true if iterator is out of scope, false if end has not been reached.
    */
-  bool isPassedEnd() const;
+  bool isPastEnd() const;
 
 private:
 

grid_map_core/include/grid_map_core/iterators/GridMapIterator.hpp

@@ -66,10 +66,10 @@ class GridMapIterator
   GridMapIterator end() const;
 
   /*!
-   * Indicates if iterator is passed end.
+   * Indicates if iterator is past end.
    * @return true if iterator is out of scope, false if end has not been reached.
    */
-  bool isPassedEnd() const;
+  bool isPastEnd() const;
 
 private:
 
@@ -86,7 +86,7 @@ class GridMapIterator
   Index index_;
 
   //! Is iterator out of scope.
-  bool isPassedEnd_;
+  bool isPastEnd_;
 };
 
 } /* namespace */

grid_map_core/include/grid_map_core/iterators/LineIterator.hpp

@@ -66,10 +66,10 @@ class LineIterator
   LineIterator& operator ++();
 
   /*!
-   * Indicates if iterator is passed end.
+   * Indicates if iterator is past end.
    * @return true if iterator is out of scope, false if end has not been reached.
    */
-  bool isPassedEnd() const;
+  bool isPastEnd() const;
 
 private:
 

grid_map_core/include/grid_map_core/iterators/PolygonIterator.hpp

@@ -60,10 +60,10 @@ class PolygonIterator
   PolygonIterator& operator ++();
 
   /*!
-   * Indicates if iterator is passed end.
+   * Indicates if iterator is past end.
    * @return true if iterator is out of scope, false if end has not been reached.
    */
-  bool isPassedEnd() const;
+  bool isPastEnd() const;
 
 private:
 

grid_map_core/include/grid_map_core/iterators/SubmapIterator.hpp

@@ -77,10 +77,10 @@ class SubmapIterator
   SubmapIterator end() const;
 
   /*!
-   * Indicates if iterator is passed end.
+   * Indicates if iterator is past end.
    * @return true if iterator is out of scope, false if end has not been reached.
    */
-  bool isPassedEnd() const;
+  bool isPastEnd() const;
 
 private:
 
@@ -106,7 +106,7 @@ class SubmapIterator
   Eigen::Array2i submapIndex_;
 
   //! Is iterator out of scope.
-  bool isPassedEnd_;
+  bool isPastEnd_;
 };
 
 } /* namespace */

grid_map_core/src/GridMap.cpp

@@ -312,7 +312,7 @@ void GridMap::move(const grid_map::Position& position)
     if (indexShift(i) != 0) {
       if (abs(indexShift(i)) >= getSize()(i)) {
         // Entire map is dropped.
-        clear();
+        clearAll();
       } else {
         // Drop cells out of map.
         int sign = (indexShift(i) > 0 ? 1 : -1);
@@ -406,14 +406,19 @@ const Eigen::Array2i& GridMap::getStartIndex() const
   return startIndex_;
 }
 
-void GridMap::clear()
+void GridMap::clear(const std::string& layer)
 {
-  if (basicLayers_.empty()) {
-    clearAll();
-    return;
+  try {
+    data_.at(layer).setConstant(NAN);
+  } catch (const std::out_of_range& exception) {
+    throw std::out_of_range("GridMap::clear(...) : No map layer '" + layer + "' available.");
   }
-  for (auto& key : basicLayers_) {
-    data_.at(key).setConstant(NAN);
+}
+
+void GridMap::clearBasic()
+{
+  for (auto& layer : basicLayers_) {
+    clear(layer);
   }
 }
 
@@ -426,15 +431,15 @@ void GridMap::clearAll()
 
 void GridMap::clearCols(unsigned int index, unsigned int nCols)
 {
-  for (auto& type : basicLayers_) {
-    data_.at(type).block(index, 0, nCols, getSize()(1)).setConstant(NAN);
+  for (auto& layer : basicLayers_) {
+    data_.at(layer).block(index, 0, nCols, getSize()(1)).setConstant(NAN);
   }
 }
 
 void GridMap::clearRows(unsigned int index, unsigned int nRows)
 {
-  for (auto& type : basicLayers_) {
-    data_.at(type).block(0, index, getSize()(0), nRows).setConstant(NAN);
+  for (auto& layer : basicLayers_) {
+    data_.at(layer).block(0, index, getSize()(0), nRows).setConstant(NAN);
   }
 }
 

grid_map_core/src/iterators/CircleIterator.cpp

@@ -58,18 +58,18 @@ const Eigen::Array2i& CircleIterator::operator *() const
 CircleIterator& CircleIterator::operator ++()
 {
   ++(*internalIterator_);
-  if (internalIterator_->isPassedEnd()) return *this;
+  if (internalIterator_->isPastEnd()) return *this;
 
-  for ( ; !internalIterator_->isPassedEnd(); ++(*internalIterator_)) {
+  for ( ; !internalIterator_->isPastEnd(); ++(*internalIterator_)) {
     if (isInside()) break;
   }
 
   return *this;
 }
 
-bool CircleIterator::isPassedEnd() const
+bool CircleIterator::isPastEnd() const
 {
-  return internalIterator_->isPassedEnd();
+  return internalIterator_->isPastEnd();
 }
 
 bool CircleIterator::isInside()

grid_map_core/src/iterators/GridMapIterator.cpp

@@ -18,7 +18,7 @@ GridMapIterator::GridMapIterator(const grid_map::GridMap& gridMap)
   endIndex_ = startIndex_ + gridMap.getSize() - Eigen::Array2i::Ones();
   mapIndexWithinRange(endIndex_, size_);
   index_ = startIndex_;
-  isPassedEnd_ = false;
+  isPastEnd_ = false;
 }
 
 GridMapIterator::GridMapIterator(const GridMapIterator* other)
@@ -27,7 +27,7 @@ GridMapIterator::GridMapIterator(const GridMapIterator* other)
   startIndex_ = other->startIndex_;
   endIndex_ = other->endIndex_;
   index_ = other->index_;
-  isPassedEnd_ = other->isPassedEnd_;
+  isPastEnd_ = other->isPastEnd_;
 }
 
 GridMapIterator& GridMapIterator::operator =(const GridMapIterator& other)
@@ -36,7 +36,7 @@ GridMapIterator& GridMapIterator::operator =(const GridMapIterator& other)
   startIndex_ = other.startIndex_;
   endIndex_ = other.endIndex_;
   index_ = other.index_;
-  isPassedEnd_ = other.isPassedEnd_;
+  isPastEnd_ = other.isPastEnd_;
   return *this;
 }
 
@@ -52,7 +52,7 @@ const Eigen::Array2i& GridMapIterator::operator *() const
 
 GridMapIterator& GridMapIterator::operator ++()
 {
-  isPassedEnd_ = !incrementIndex(index_, size_, startIndex_);
+  isPastEnd_ = !incrementIndex(index_, size_, startIndex_);
   return *this;
 }
 
@@ -63,9 +63,9 @@ GridMapIterator GridMapIterator::end() const
   return res;
 }
 
-bool GridMapIterator::isPassedEnd() const
+bool GridMapIterator::isPastEnd() const
 {
-  return isPassedEnd_;
+  return isPastEnd_;
 }
 
 } /* namespace grid_map */

grid_map_core/src/iterators/LineIterator.cpp

@@ -74,7 +74,7 @@ LineIterator& LineIterator::operator ++()
   return *this;
 }
 
-bool LineIterator::isPassedEnd() const
+bool LineIterator::isPastEnd() const
 {
   return iCell_ >= nCells_;
 }

grid_map_core/src/iterators/PolygonIterator.cpp

@@ -53,18 +53,18 @@ const Eigen::Array2i& PolygonIterator::operator *() const
 PolygonIterator& PolygonIterator::operator ++()
 {
   ++(*internalIterator_);
-  if (internalIterator_->isPassedEnd()) return *this;
+  if (internalIterator_->isPastEnd()) return *this;
 
-  for ( ; !internalIterator_->isPassedEnd(); ++(*internalIterator_)) {
+  for ( ; !internalIterator_->isPastEnd(); ++(*internalIterator_)) {
     if (isInside()) break;
   }
 
   return *this;
 }
 
-bool PolygonIterator::isPassedEnd() const
+bool PolygonIterator::isPastEnd() const
 {
-  return internalIterator_->isPassedEnd();
+  return internalIterator_->isPastEnd();
 }
 
 bool PolygonIterator::isInside()

grid_map_core/src/iterators/SubmapIterator.cpp

@@ -25,7 +25,7 @@ SubmapIterator::SubmapIterator(const grid_map::GridMap& gridMap,
   submapEndIndex_ = submapStartIndex + submapSize - Eigen::Array2i::Ones();
   mapIndexWithinRange(submapEndIndex_, submapBufferSize_);
   submapIndex_.setZero();
-  isPassedEnd_ = false;
+  isPastEnd_ = false;
 }
 
 SubmapIterator::SubmapIterator(const SubmapIterator* other)
@@ -37,7 +37,7 @@ SubmapIterator::SubmapIterator(const SubmapIterator* other)
   submapEndIndex_ = other->submapEndIndex_;
   index_ = other->index_;
   submapIndex_ = other->submapIndex_;
-  isPassedEnd_ = other->isPassedEnd_;
+  isPastEnd_ = other->isPastEnd_;
 }
 
 SubmapIterator& SubmapIterator::operator =(const SubmapIterator& other)
@@ -49,7 +49,7 @@ SubmapIterator& SubmapIterator::operator =(const SubmapIterator& other)
   submapEndIndex_ = other.submapEndIndex_;
   index_ = other.index_;
   submapIndex_ = other.submapIndex_;
-  isPassedEnd_ = other.isPassedEnd_;
+  isPastEnd_ = other.isPastEnd_;
   return *this;
 }
 
@@ -70,7 +70,7 @@ const Eigen::Array2i& SubmapIterator::getSubmapIndex() const
 
 SubmapIterator& SubmapIterator::operator ++()
 {
-  isPassedEnd_ = !incrementIndexForSubmap(submapIndex_, index_, submapStartIndex_,
+  isPastEnd_ = !incrementIndexForSubmap(submapIndex_, index_, submapStartIndex_,
                                          submapBufferSize_, bufferSize_, startIndex_);
   return *this;
 }
@@ -82,9 +82,9 @@ SubmapIterator SubmapIterator::end() const
   return res;
 }
 
-bool SubmapIterator::isPassedEnd() const
+bool SubmapIterator::isPastEnd() const
 {
-  return isPassedEnd_;
+  return isPastEnd_;
 }
 
 } /* namespace grid_map */