NormalVectorsFilter.hpp

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/*
 * NormalVectorsFilter.hpp
 *
 *  Created on: May 05, 2015
 *      Author: Peter Fankhauser, Martin Wermelinger
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <filters/filter_base.h>
#include <grid_map_core/grid_map_core.hpp>

#include <Eigen/Core>
#include <string>

namespace grid_map {

template<typename T>
class NormalVectorsFilter : public filters::FilterBase<T>
{

 public:
  NormalVectorsFilter();

  virtual ~NormalVectorsFilter();

  virtual bool configure();

  virtual bool update(const T& mapIn, T& mapOut);

 private:

  void computeWithArea(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);
  void computeWithRaster(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);

  enum class Method {
    Area,
    Raster
  };

  Method method_;

  double estimationRadius_;

  Eigen::Vector3d normalVectorPositiveAxis_;

  std::string inputLayer_;

  std::string outputLayersPrefix_;
};

} /* namespace */