GridMapOctomapConverter.hpp
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00001 /*
00002  * GridMapOctomapConverter.hpp
00003  *
00004  *  Created on: May 1, 2017
00005  *      Author: Jeff Delmerico, Peter Fankhauser
00006  *       Institute: University of Zürich, Robotics and Perception Group
00007  */
00008 
00009 #pragma once
00010 
00011 #include <grid_map_core/grid_map_core.hpp>
00012 
00013 // Octomap
00014 #include <octomap/octomap.h>
00015 
00016 // STD
00017 #include <iostream>
00018 #include <vector>
00019 #include <algorithm>
00020 #include <cmath>
00021 
00022 namespace grid_map {
00023 
00027 class GridMapOctomapConverter
00028 {
00029  public:
00033   GridMapOctomapConverter();
00034 
00038   virtual ~GridMapOctomapConverter();
00039 
00054   static bool fromOctomap(const octomap::OcTree& octomap,
00055                           const std::string& layer,
00056                           grid_map::GridMap& gridMap,
00057                           const grid_map::Position3* minPoint = nullptr,
00058                           const grid_map::Position3* maxPoint = nullptr);
00059 
00060 };
00061 
00062 } /* namespace */


grid_map_octomap
Author(s): Jeff Delmerico , Péter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:26