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 */