Template Function beluga_ros::assign_obstacle_map

• Defined in File ndt_ellipsoid.hpp

Function Documentation

template<typename MapType, int NDim>
std::pair<beluga_ros::msg::MarkerArray, bool> beluga_ros::assign_obstacle_map(const beluga::SparseValueGrid<MapType, NDim> &grid, beluga_ros::msg::MarkerArray &message)

Assign an ellipsoid to each cell of a SparseValueGrid. A cube is used instead if the distribution of the cell is not suitable for the rotation matrix creation.

Parameters:

• grid – A SparseValueGrid that contains cells representing obstacles.

• message – [out] A MarkerArray that will contain the shapes

Template Parameters:

• MapType – Container that maps from Eigen::Vector<int, NDim> to the type of the cell. See [SparseValueGrid] (https://ekumen-os.github.io/beluga/packages/beluga/docs/_doxygen/generated/reference/html/classbeluga_1_1SparseValueGrid.html).

• NDim – Dimension of the grid.

Returns:

A std::pair with the MarkerArray containing the shapes and a boolean indicating if at least one cube was generated.