ray_casting.h
Go to the documentation of this file.
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_MAPPING_2D_RAY_CASTING_H_
18 #define CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_
19 
20 #include <functional>
21 
27 
28 namespace cartographer {
29 namespace mapping_2d {
30 
31 // For each ray in 'range_data', calls 'hit_visitor' and 'miss_visitor' on the
32 // appropriate cells. Hits are handled before misses.
33 void CastRays(const sensor::RangeData& range_data, const MapLimits& limits,
34  const std::function<void(const Eigen::Array2i&)>& hit_visitor,
35  const std::function<void(const Eigen::Array2i&)>& miss_visitor);
36 
37 } // namespace mapping_2d
38 } // namespace cartographer
39 
40 #endif // CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_
void CastRays(const sensor::RangeData &range_data, const MapLimits &limits, const std::function< void(const Eigen::Array2i &)> &hit_visitor, const std::function< void(const Eigen::Array2i &)> &miss_visitor)
Definition: ray_casting.cc:150


cartographer
Author(s):
autogenerated on Wed Jun 5 2019 21:57:58