Class TSDF2D

Defined in File tsdf_2d.h

Inheritance Relationships

Base Type

public cartographer::mapping::Grid2D (Class Grid2D)

Class Documentation

class TSDF2D : public cartographer::mapping::Grid2D 

Public Functions

TSDF2D(const MapLimits &limits, float truncation_distance, float max_weight, ValueConversionTables *conversion_tables)

explicit TSDF2D(const proto::Grid2D &proto, ValueConversionTables *conversion_tables)

void SetCell(const Eigen::Array2i &cell_index, const float tsd, const float weight)

virtual GridType GetGridType() const override

float GetTSD(const Eigen::Array2i &cell_index) const

float GetWeight(const Eigen::Array2i &cell_index) const

std::pair<float, float> GetTSDAndWeight(const Eigen::Array2i &cell_index) const

virtual void GrowLimits(const Eigen::Vector2f &point) override

virtual proto::Grid2D ToProto() const override

virtual std::unique_ptr<Grid2D> ComputeCroppedGrid() const override

virtual bool DrawToSubmapTexture(proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const override

bool CellIsUpdated(const Eigen::Array2i &cell_index) const