#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.
| grid_map::GridMapOctomapConverter::GridMapOctomapConverter | ( | ) |
Default constructor.
Definition at line 13 of file GridMapOctomapConverter.cpp.
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virtual |
Destructor.
Definition at line 17 of file GridMapOctomapConverter.cpp.
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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.