Program Listing for File LightIntensityFilter.hpp

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/*
 * LightIntensityFilter.hpp
 *
 *  Created on: Sep 23, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_FILTERS__LIGHTINTENSITYFILTER_HPP_
#define GRID_MAP_FILTERS__LIGHTINTENSITYFILTER_HPP_

#include <filters/filter_base.hpp>

#include <Eigen/Core>
#include <string>

namespace grid_map
{

template<typename T>
class LightIntensityFilter : public filters::FilterBase<T>
{
public:
  LightIntensityFilter();

  virtual ~LightIntensityFilter();

  bool configure() override;

  bool update(const T & mapIn, T & mapOut) override;

private:
  std::string inputLayersPrefix_;

  std::string outputLayer_;

  Eigen::Vector3f lightDirection_;
};

}  // namespace grid_map
#endif  // GRID_MAP_FILTERS__LIGHTINTENSITYFILTER_HPP_