GridMapOctomapConverter.hpp

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/*
 * GridMapOctomapConverter.hpp
 *
 *  Created on: May 1, 2017
 *      Author: Jeff Delmerico, Peter Fankhauser
 *       Institute: University of Zürich, Robotics and Perception Group
 */

#pragma once

#include <grid_map_core/grid_map_core.hpp>

// Octomap
#include <octomap/octomap.h>

// STD
#include <iostream>
#include <vector>
#include <algorithm>
#include <cmath>

namespace grid_map {

class GridMapOctomapConverter
{
 public:
  GridMapOctomapConverter();

  virtual ~GridMapOctomapConverter();

  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);

};

} /* namespace */