mapping_3d/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_3D_RANGE_DATA_INSERTER_H_
18 #define CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_H_
19 
21 #include "cartographer/mapping_3d/proto/range_data_inserter_options.pb.h"
24 
25 namespace cartographer {
26 namespace mapping_3d {
27 
28 proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
29  common::LuaParameterDictionary* parameter_dictionary);
30 
32  public:
33  explicit RangeDataInserter(const proto::RangeDataInserterOptions& options);
34 
35  RangeDataInserter(const RangeDataInserter&) = delete;
37 
38  // Inserts 'range_data' into 'hybrid_grid'.
39  void Insert(const sensor::RangeData& range_data,
40  HybridGrid* hybrid_grid) const;
41 
42  private:
43  const proto::RangeDataInserterOptions options_;
44  const std::vector<uint16> hit_table_;
45  const std::vector<uint16> miss_table_;
46 };
47 
48 } // namespace mapping_3d
49 } // namespace cartographer
50 
51 #endif // CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_H_
proto::RangeDataInserterOptions CreateRangeDataInserterOptions(common::LuaParameterDictionary *parameter_dictionary)
RangeDataInserter & operator=(const RangeDataInserter &)=delete
RangeDataInserter(const proto::RangeDataInserterOptions &options)
void Insert(const sensor::RangeData &range_data, HybridGrid *hybrid_grid) const


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autogenerated on Wed Jun 5 2019 21:57:58