Public Member Functions
virtual bool	configure ()
	NormalVectorsFilter ()
virtual bool	update (const T &mapIn, T &mapOut)
virtual	~NormalVectorsFilter ()
Private Types
enum	Method { Area, Raster }
Private Member Functions
void	computeWithArea (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix)
void	computeWithRaster (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix)
Private Attributes
double	estimationRadius_
	Radius of submap for normal vector estimation.
std::string	inputLayer_
	Input layer name.
Method	method_
Eigen::Vector3d	normalVectorPositiveAxis_
	Normal vector positive axis.
std::string	outputLayersPrefix_
	Output layer name.

Detailed Description

Compute the normal vectors of a layer in a map.

Definition at line 23 of file NormalVectorsFilter.hpp.

Member Enumeration Documentation

template<typename T >

Enumerator:

Area
Raster

Definition at line 55 of file NormalVectorsFilter.hpp.

template<typename T >

grid_map::NormalVectorsFilter< T >::NormalVectorsFilter ( )

Constructor

Definition at line 22 of file NormalVectorsFilter.cpp.

template<typename T >

grid_map::NormalVectorsFilter< T >::~NormalVectorsFilter ( ) [virtual]

Destructor.

Definition at line 29 of file NormalVectorsFilter.cpp.

template<typename T >

void grid_map::NormalVectorsFilter< T >::computeWithArea	(	GridMap &	map,
		const std::string &	inputLayer,
		const std::string &	outputLayersPrefix
	)		`[private]`

Definition at line 102 of file NormalVectorsFilter.cpp.

template<typename T >

void grid_map::NormalVectorsFilter< T >::computeWithRaster	(	GridMap &	map,
		const std::string &	inputLayer,
		const std::string &	outputLayersPrefix
	)		`[private]`

Definition at line 164 of file NormalVectorsFilter.cpp.

template<typename T >

bool grid_map::NormalVectorsFilter< T >::configure ( ) [virtual]

Configures the filter from parameters on the Parameter Server

Definition at line 34 of file NormalVectorsFilter.cpp.

template<typename T >

bool grid_map::NormalVectorsFilter< T >::update	(	const T &	mapIn,
		T &	mapOut
	)		`[virtual]`

Compute the normal vectors of a layer in a map and saves it as additional grid map layer.

Parameters:

mapIn	grid map containing the layer for which the normal vectors are computed for.
mapOut	grid map containing mapIn and the new layers for the normal vectors.

Definition at line 80 of file NormalVectorsFilter.cpp.