occupancy_grid.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_ROS_OCCUPANCY_GRID_H_
18 #define CARTOGRAPHER_ROS_OCCUPANCY_GRID_H_
19 
20 #include <vector>
21 
22 #include "Eigen/Core"
23 #include "Eigen/Geometry"
25 #include "cartographer/mapping_2d/map_limits.h"
26 #include "cartographer/mapping_2d/proto/submaps_options.pb.h"
27 #include "nav_msgs/OccupancyGrid.h"
28 
29 namespace cartographer_ros {
30 
32  const std::vector<::cartographer::mapping::TrajectoryNode>&
33  trajectory_nodes,
34  const string& map_frame,
35  const ::cartographer::mapping_2d::proto::SubmapsOptions& submaps_options,
36  ::nav_msgs::OccupancyGrid* const occupancy_grid);
37 
38 // Computes MapLimits that contain the origin, and all rays (both returns and
39 // misses) in the 'trajectory_nodes'.
40 ::cartographer::mapping_2d::MapLimits ComputeMapLimits(
41  double resolution,
42  const std::vector<::cartographer::mapping::TrajectoryNode>&
43  trajectory_nodes);
44 
45 } // namespace cartographer_ros
46 
47 #endif // CARTOGRAPHER_ROS_OCCUPANCY_GRID_H_
void BuildOccupancyGrid2D(const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const string &map_frame, const ::cartographer::mapping_2d::proto::SubmapsOptions &submaps_options,::nav_msgs::OccupancyGrid *const occupancy_grid)
::cartographer::mapping_2d::MapLimits ComputeMapLimits(const double resolution, const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes)


cartographer_ros
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autogenerated on Mon Jun 10 2019 12:59:40