addcloud_parameter.cpp

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/******************************************************************************
*                                                                             *
* addcloud_parameter.cpp                                                      *
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* github repository                                                           *
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// local headers
#include "octomap_pa/addcloud_parameter.h"

//**************************[cAddCloudParameter]*******************************
cAddCloudParameter::cAddCloudParameter() {

    // octomap parameter
    map_prob_hit_  = 0.70;
    map_prob_miss_ = 0.40;

    // transform for pointcloud
    pcd_explicit_transform_ = true;

    // voxel filter for pointcloud
    pcd_voxel_active_                       = true;
    pcd_voxel_explicit_                     = false;
    pcd_voxel_explicit_relative_resolution_ =   0.5;
}

//**************************[cAddCloudParameter]*******************************
cAddCloudParameter::cAddCloudParameter(const cAddCloudParameter &other) {

    *this = other;
}

//**************************[operator =]***************************************
cAddCloudParameter& cAddCloudParameter::operator = (
    const cAddCloudParameter &other) {

    // octomap parameter
    map_prob_hit_  = other.map_prob_hit_ ;
    map_prob_miss_ = other.map_prob_miss_;

    // transform for pointcloud
    pcd_explicit_transform_ = other.pcd_explicit_transform_;

    // voxel filter and transform for pointcloud
    pcd_voxel_explicit_relative_resolution_ =
      other.pcd_voxel_explicit_relative_resolution_;
    pcd_voxel_active_   = other.pcd_voxel_active_  ;
    pcd_voxel_explicit_ = other.pcd_voxel_explicit_;

    return *this;
}