Public Member Functions | Static Public Member Functions | List of all members
grid_map::GridMapOctomapConverter Class Reference

#include <GridMapOctomapConverter.hpp>

Public Member Functions

 GridMapOctomapConverter ()
 
virtual ~GridMapOctomapConverter ()
 

Static Public Member Functions

static bool fromOctomap (const octomap::OcTree &octomap, const std::string &layer, grid_map::GridMap &gridMap, const grid_map::Position3 *minPoint=nullptr, const grid_map::Position3 *maxPoint=nullptr)
 

Detailed Description

Conversions between grid maps and Octomap types.

Definition at line 27 of file GridMapOctomapConverter.hpp.

Constructor & Destructor Documentation

grid_map::GridMapOctomapConverter::GridMapOctomapConverter ( )

Default constructor.

Definition at line 13 of file GridMapOctomapConverter.cpp.

grid_map::GridMapOctomapConverter::~GridMapOctomapConverter ( )
virtual

Destructor.

Definition at line 17 of file GridMapOctomapConverter.cpp.

Member Function Documentation

bool grid_map::GridMapOctomapConverter::fromOctomap ( const octomap::OcTree octomap,
const std::string &  layer,
grid_map::GridMap gridMap,
const grid_map::Position3 minPoint = nullptr,
const grid_map::Position3 maxPoint = nullptr 
)
static

Converts an Octomap to a grid map in the same coordinate frame, with a cell resolution equal to the leaf voxel size in the Octomap. Only creates a layer for elevation. This changes the geometry of the grid map and deletes all layer contents. Note: Bounding box coordinates are not checked for sanity - if you provide values outside of the gridmap, undefined behavior may result.

Parameters
[in]octomapthe octomap.
[in]layerthe layer that is filled with the octomap data.
[out]gridMapthe grid map to be initialized.
[in]minPoint(optional) minimum coordinate for bounding box.
[in]maxPoint(optional) maximum coordinate for bounding box.
Returns
true if successful, false otherwise.

Definition at line 21 of file GridMapOctomapConverter.cpp.


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


grid_map_octomap
Author(s): Jeff Delmerico , P├ęter Fankhauser
autogenerated on Sun Jun 28 2020 03:14:29