#include <NormalVectorsFilter.hpp>

Inheritance diagram for grid_map::NormalVectorsFilter< T >:

Public Member Functions
virtual bool	configure ()

	NormalVectorsFilter ()

virtual bool	update (const T &mapIn, T &mapOut)

virtual	~NormalVectorsFilter ()

Public Member Functions inherited from filters::FilterBase< T >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config)

	FilterBase ()

const std::string &	getName ()

std::string	getType ()

virtual	~FilterBase ()

Private Types
enum	Method { Method::Area, Method::Raster }

Private Member Functions
void	computeWithArea (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix)

void	computeWithRaster (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix)

Private Attributes
double	estimationRadius_
	Radius of submap for normal vector estimation. More...

std::string	inputLayer_
	Input layer name. More...

Method	method_

Eigen::Vector3d	normalVectorPositiveAxis_
	Normal vector positive axis. More...

std::string	outputLayersPrefix_
	Output layer name. More...

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< T >
bool	getParam (const std::string &name, std::string &value)

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value)

bool	getParam (const std::string &name, double &value)

bool	getParam (const std::string &name, std::vector< double > &value)

bool	getParam (const std::string &name, unsigned int &value)

bool	getParam (const std::string &name, int &value)

bool	getParam (const std::string &name, std::vector< std::string > &value)

bool	getParam (const std::string &name, bool &value)

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Protected Attributes inherited from filters::FilterBase< T >
bool	configured_

std::string	filter_name_

std::string	filter_type_

string_map_t	params_

Detailed Description

template<typename T>
class grid_map::NormalVectorsFilter< T >

Compute the normal vectors of a layer in a map.

Definition at line 23 of file NormalVectorsFilter.hpp.

Member Enumeration Documentation

template<typename T >

enum grid_map::NormalVectorsFilter::Method

strongprivate

Enumerator
Area
Raster

Definition at line 55 of file NormalVectorsFilter.hpp.

Constructor & Destructor Documentation

template<typename T >

grid_map::NormalVectorsFilter< T >::NormalVectorsFilter ( )

Constructor

Definition at line 22 of file NormalVectorsFilter.cpp.

template<typename T >

grid_map::NormalVectorsFilter< T >::~NormalVectorsFilter ( )

virtual

Destructor.

Definition at line 29 of file NormalVectorsFilter.cpp.

Member Function Documentation

template<typename T >

void grid_map::NormalVectorsFilter< T >::computeWithArea	(	GridMap &	map,
		const std::string &	inputLayer,
		const std::string &	outputLayersPrefix
	)

private

Definition at line 102 of file NormalVectorsFilter.cpp.

template<typename T >

void grid_map::NormalVectorsFilter< T >::computeWithRaster	(	GridMap &	map,
		const std::string &	inputLayer,
		const std::string &	outputLayersPrefix
	)

private

Definition at line 164 of file NormalVectorsFilter.cpp.

template<typename T >

bool grid_map::NormalVectorsFilter< T >::configure ( )

virtual

Configures the filter from parameters on the Parameter Server

Implements filters::FilterBase< T >.

Definition at line 34 of file NormalVectorsFilter.cpp.

template<typename T >

bool grid_map::NormalVectorsFilter< T >::update	(	const T &	mapIn,
		T &	mapOut
	)

virtual

Compute the normal vectors of a layer in a map and saves it as additional grid map layer.

Parameters

mapIn	grid map containing the layer for which the normal vectors are computed for.
mapOut	grid map containing mapIn and the new layers for the normal vectors.

Implements filters::FilterBase< T >.

Definition at line 80 of file NormalVectorsFilter.cpp.

Member Data Documentation

template<typename T >

double grid_map::NormalVectorsFilter< T >::estimationRadius_

private

Radius of submap for normal vector estimation.

Definition at line 63 of file NormalVectorsFilter.hpp.

template<typename T >

std::string grid_map::NormalVectorsFilter< T >::inputLayer_

private

Input layer name.

Definition at line 69 of file NormalVectorsFilter.hpp.

template<typename T >

Method grid_map::NormalVectorsFilter< T >::method_

private

Definition at line 60 of file NormalVectorsFilter.hpp.

template<typename T >

Eigen::Vector3d grid_map::NormalVectorsFilter< T >::normalVectorPositiveAxis_

private

Normal vector positive axis.

Definition at line 66 of file NormalVectorsFilter.hpp.

template<typename T >

std::string grid_map::NormalVectorsFilter< T >::outputLayersPrefix_

private

Output layer name.

Definition at line 72 of file NormalVectorsFilter.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename T> class grid_map::NormalVectorsFilter< T >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class grid_map::NormalVectorsFilter< T >