addcloud_parameter.cpp

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/******************************************************************************
*                                                                             *
* addcloud_parameter.cpp                                                      *
* ======================                                                      *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
*                                                                             *
*******************************************************************************
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// local headers
#include "octomap_pa/addcloud_parameter.h"
 
//**************************[cAddCloudParameter]*******************************
cAddCloudParameter::cAddCloudParameter() {
 
    // octomap parameter
    map_prob_hit_  = 0.70;
    map_prob_miss_ = 0.40;
 
    // transform for pointcloud
    pcd_explicit_transform_ = true;
 
    // voxel filter for pointcloud
    pcd_voxel_active_                       = true;
    pcd_voxel_explicit_                     = false;
    pcd_voxel_explicit_relative_resolution_ =   0.5;
}
 
//**************************[cAddCloudParameter]*******************************
cAddCloudParameter::cAddCloudParameter(const cAddCloudParameter &other) {
 
    *this = other;
}
 
//**************************[operator =]***************************************
cAddCloudParameter& cAddCloudParameter::operator = (
    const cAddCloudParameter &other) {
 
    // octomap parameter
    map_prob_hit_  = other.map_prob_hit_ ;
    map_prob_miss_ = other.map_prob_miss_;
 
    // transform for pointcloud
    pcd_explicit_transform_ = other.pcd_explicit_transform_;
 
    // voxel filter and transform for pointcloud
    pcd_voxel_explicit_relative_resolution_ =
      other.pcd_voxel_explicit_relative_resolution_;
    pcd_voxel_active_   = other.pcd_voxel_active_  ;
    pcd_voxel_explicit_ = other.pcd_voxel_explicit_;
 
    return *this;
}