00001 /****************************************************************************** 00002 * * 00003 * addcloud_parameter.cpp * 00004 * ====================== * 00005 * * 00006 ******************************************************************************* 00007 * * 00008 * github repository * 00009 * https://github.com/TUC-ProAut/ros_octomap * 00010 * * 00011 * Chair of Automation Technology, Technische Universität Chemnitz * 00012 * https://www.tu-chemnitz.de/etit/proaut * 00013 * * 00014 ******************************************************************************* 00015 * * 00016 * New BSD License * 00017 * * 00018 * Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz * 00019 * All rights reserved. * 00020 * * 00021 * Redistribution and use in source and binary forms, with or without * 00022 * modification, are permitted provided that the following conditions are met: * 00023 * * Redistributions of source code must retain the above copyright * 00024 * notice, this list of conditions and the following disclaimer. * 00025 * * Redistributions in binary form must reproduce the above copyright * 00026 * notice, this list of conditions and the following disclaimer in the * 00027 * documentation and/or other materials provided with the distribution. * 00028 * * Neither the name of the Technische Universität Chemnitz nor the * 00029 * names of its contributors may be used to endorse or promote products * 00030 * derived from this software without specific prior written permission. * 00031 * * 00032 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * 00033 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * 00034 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * 00035 * ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY * 00036 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00037 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * 00038 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * 00039 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * 00040 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * 00041 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * 00042 * DAMAGE. * 00043 * * 00044 ******************************************************************************/ 00045 00046 // local headers 00047 #include "octomap_pa/addcloud_parameter.h" 00048 00049 //**************************[cAddCloudParameter]******************************* 00050 cAddCloudParameter::cAddCloudParameter() { 00051 00052 // octomap parameter 00053 map_prob_hit_ = 0.70; 00054 map_prob_miss_ = 0.40; 00055 00056 // transform for pointcloud 00057 pcd_explicit_transform_ = true; 00058 00059 // voxel filter for pointcloud 00060 pcd_voxel_active_ = true; 00061 pcd_voxel_explicit_ = false; 00062 pcd_voxel_explicit_relative_resolution_ = 0.5; 00063 } 00064 00065 //**************************[cAddCloudParameter]******************************* 00066 cAddCloudParameter::cAddCloudParameter(const cAddCloudParameter &other) { 00067 00068 *this = other; 00069 } 00070 00071 //**************************[operator =]*************************************** 00072 cAddCloudParameter& cAddCloudParameter::operator = ( 00073 const cAddCloudParameter &other) { 00074 00075 // octomap parameter 00076 map_prob_hit_ = other.map_prob_hit_ ; 00077 map_prob_miss_ = other.map_prob_miss_; 00078 00079 // transform for pointcloud 00080 pcd_explicit_transform_ = other.pcd_explicit_transform_; 00081 00082 // voxel filter and transform for pointcloud 00083 pcd_voxel_explicit_relative_resolution_ = 00084 other.pcd_voxel_explicit_relative_resolution_; 00085 pcd_voxel_active_ = other.pcd_voxel_active_ ; 00086 pcd_voxel_explicit_ = other.pcd_voxel_explicit_; 00087 00088 return *this; 00089 }