#include <GridMapOctomapConverter.hpp>
Public Member Functions | |
| GridMapOctomapConverter () | |
| virtual | ~GridMapOctomapConverter () |
Static Public Member Functions | |
| static bool | fromOctomap (const octomap::OcTree &octomap, const std::string &layer, grid_map::GridMap &gridMap, const grid_map::Position3 *minPoint=nullptr, const grid_map::Position3 *maxPoint=nullptr) |
Conversions between grid maps and Octomap types.
Definition at line 27 of file GridMapOctomapConverter.hpp.
Default constructor.
Definition at line 13 of file GridMapOctomapConverter.cpp.
Destructor.
Definition at line 17 of file GridMapOctomapConverter.cpp.
| bool grid_map::GridMapOctomapConverter::fromOctomap | ( | const octomap::OcTree & | octomap, |
| const std::string & | layer, | ||
| grid_map::GridMap & | gridMap, | ||
| const grid_map::Position3 * | minPoint = nullptr, |
||
| const grid_map::Position3 * | maxPoint = nullptr |
||
| ) | [static] |
Converts an Octomap to a grid map in the same coordinate frame, with a cell resolution equal to the leaf voxel size in the Octomap. Only creates a layer for elevation. This changes the geometry of the grid map and deletes all layer contents. Note: Bounding box coordinates are not checked for sanity - if you provide values outside of the gridmap, undefined behavior may result.
| [in] | octomap | the octomap. |
| [in] | layer | the layer that is filled with the octomap data. |
| [out] | gridMap | the grid map to be initialized. |
| [in] | minPoint | (optional) minimum coordinate for bounding box. |
| [in] | maxPoint | (optional) maximum coordinate for bounding box. |
Definition at line 21 of file GridMapOctomapConverter.cpp.