Class GridMapOctomapConverter

Class Documentation

class GridMapOctomapConverter

Conversions between grid maps and Octomap types.

Public Functions

GridMapOctomapConverter()

Default constructor.

virtual ~GridMapOctomapConverter()

Destructor.

Public Static Functions

static bool fromOctomap(const octomap::OcTree &octomap, const std::string &layer, grid_map::GridMap &gridMap, const grid_map::Position3 *minPoint = nullptr, const grid_map::Position3 *maxPoint = nullptr)

Converts an Octomap to a grid map in the same coordinate frame, with a cell resolution equal to the leaf voxel size in the Octomap. Only creates a layer for elevation. This changes the geometry of the grid map and deletes all layer contents. Note: Bounding box coordinates are not checked for sanity - if you provide values outside of the gridmap, undefined behavior may result.

Parameters:

  • octomap – [in] the octomap.

  • layer – [in] the layer that is filled with the octomap data.

  • gridMap – [out] the grid map to be initialized.

  • minPoint – [in] (optional) minimum coordinate for bounding box.

  • maxPoint – [in] (optional) maximum coordinate for bounding box.

Returns:

true if successful, false otherwise.