00001 /* 00002 * LightIntensityFilter.hpp 00003 * 00004 * Created on: Sep 23, 2017 00005 * Author: Peter Fankhauser 00006 * Institute: ETH Zurich, Robotic Systems Lab 00007 */ 00008 00009 #pragma once 00010 00011 #include <filters/filter_base.h> 00012 00013 #include <Eigen/Core> 00014 #include <string> 00015 00016 namespace grid_map { 00017 00021 template<typename T> 00022 class LightIntensityFilter : public filters::FilterBase<T> 00023 { 00024 00025 public: 00029 LightIntensityFilter(); 00030 00034 virtual ~LightIntensityFilter(); 00035 00039 virtual bool configure(); 00040 00046 virtual bool update(const T& mapIn, T& mapOut); 00047 00048 private: 00050 std::string inputLayersPrefix_; 00051 00053 std::string outputLayer_; 00054 00056 Eigen::Vector3f lightDirection_; 00057 }; 00058 00059 } /* namespace */