mapping_2d/range_data_inserter.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
18 #define CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
19 
20 #include <utility>
21 #include <vector>
22 
26 #include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
30 
31 namespace cartographer {
32 namespace mapping_2d {
33 
34 proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
35  common::LuaParameterDictionary* parameter_dictionary);
36 
38  public:
39  explicit RangeDataInserter(const proto::RangeDataInserterOptions& options);
40 
41  RangeDataInserter(const RangeDataInserter&) = delete;
43 
44  // Inserts 'range_data' into 'probability_grid'.
45  void Insert(const sensor::RangeData& range_data,
46  ProbabilityGrid* probability_grid) const;
47 
48  const std::vector<uint16>& hit_table() const { return hit_table_; }
49  const std::vector<uint16>& miss_table() const { return miss_table_; }
50 
51  private:
52  const proto::RangeDataInserterOptions options_;
53  const std::vector<uint16> hit_table_;
54  const std::vector<uint16> miss_table_;
55 };
56 
57 } // namespace mapping_2d
58 } // namespace cartographer
59 
60 #endif // CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
void Insert(const sensor::RangeData &range_data, ProbabilityGrid *probability_grid) const
proto::RangeDataInserterOptions CreateRangeDataInserterOptions(common::LuaParameterDictionary *const parameter_dictionary)
RangeDataInserter(const proto::RangeDataInserterOptions &options)
const std::vector< uint16 > & hit_table() const
const std::vector< uint16 > & miss_table() const
RangeDataInserter & operator=(const RangeDataInserter &)=delete


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autogenerated on Mon Jun 10 2019 12:51:39