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00032 #ifndef COSTMAP_2D_OBSERVATION_H_
00033 #define COSTMAP_2D_OBSERVATION_H_
00034
00035 #include <geometry_msgs/Point.h>
00036 #include <pcl/point_types.h>
00037 #include <pcl/point_cloud.h>
00038
00039 namespace costmap_2d
00040 {
00041
00047 class Observation
00048 {
00049 public:
00053 Observation() :
00054 cloud_(new pcl::PointCloud<pcl::PointXYZ>()), obstacle_range_(0.0), raytrace_range_(0.0)
00055 {
00056 }
00057
00058 virtual ~Observation()
00059 {
00060 delete cloud_;
00061 }
00062
00070 Observation(geometry_msgs::Point& origin, pcl::PointCloud<pcl::PointXYZ> cloud,
00071 double obstacle_range, double raytrace_range) :
00072 origin_(origin), cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)),
00073 obstacle_range_(obstacle_range), raytrace_range_(raytrace_range)
00074 {
00075 }
00076
00081 Observation(const Observation& obs) :
00082 origin_(obs.origin_), cloud_(new pcl::PointCloud<pcl::PointXYZ>(*(obs.cloud_))),
00083 obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_)
00084 {
00085 }
00086
00092 Observation(pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range) :
00093 cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0)
00094 {
00095 }
00096
00097 geometry_msgs::Point origin_;
00098 pcl::PointCloud<pcl::PointXYZ>* cloud_;
00099 double obstacle_range_, raytrace_range_;
00100 };
00101
00102 }
00103 #endif // COSTMAP_2D_OBSERVATION_H_
costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:15