.. _program_listing_file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_GridMapPclConverter.hpp:

Program Listing for File GridMapPclConverter.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_GridMapPclConverter.hpp>` (``/tmp/ws/src/grid_map/grid_map_pcl/include/grid_map_pcl/GridMapPclConverter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * GridMapPclConverter.hpp
    *
    *  Created on: Apr 14, 2016
    *      Author: Dominic Jud
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_PCL__GRIDMAPPCLCONVERTER_HPP_
   #define GRID_MAP_PCL__GRIDMAPPCLCONVERTER_HPP_
   
   #include <grid_map_core/grid_map_core.hpp>
   
   // PCL
   #include <pcl/point_cloud.h>
   #include <pcl/point_types.h>
   #include <pcl/conversions.h>
   #include <pcl/PolygonMesh.h>
   #include <pcl/common/common.h>
   
   // STD
   #include <iostream>
   #include <string>
   #include <vector>
   #include <algorithm>
   #include <cmath>
   
   namespace grid_map
   {
   
   class GridMapPclConverter
   {
   public:
     GridMapPclConverter();
   
     virtual ~GridMapPclConverter();
   
     static bool initializeFromPolygonMesh(
       const pcl::PolygonMesh & mesh, const double resolution,
       grid_map::GridMap & gridMap);
   
     static bool addLayerFromPolygonMesh(
       const pcl::PolygonMesh & mesh, const std::string & layer,
       grid_map::GridMap & gridMap);
   
   private:
     static bool rayTriangleIntersect(
       const Eigen::Vector3f & point,
       const Eigen::Vector3f & ray,
       const Eigen::Matrix3f & triangleVertices,
       Eigen::Vector3f & intersectionPoint);
   };
   
   }   // namespace grid_map
   #endif  // GRID_MAP_PCL__GRIDMAPPCLCONVERTER_HPP_