#include <NormalVectorsFilter.hpp>
Public Member Functions | |
virtual bool | configure () |
NormalVectorsFilter () | |
virtual bool | update (const T &mapIn, T &mapOut) |
virtual | ~NormalVectorsFilter () |
Public Member Functions inherited from filters::FilterBase< T > | |
bool | configure (const std::string ¶m_name, ros::NodeHandle node_handle=ros::NodeHandle()) |
bool | configure (XmlRpc::XmlRpcValue &config) |
FilterBase () | |
const std::string & | getName () |
std::string | getType () |
virtual | ~FilterBase () |
Private Types | |
enum | Method { Method::Area, Method::Raster } |
Private Member Functions | |
void | computeWithArea (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix) |
void | computeWithRaster (GridMap &map, const std::string &inputLayer, const std::string &outputLayersPrefix) |
Private Attributes | |
double | estimationRadius_ |
Radius of submap for normal vector estimation. More... | |
std::string | inputLayer_ |
Input layer name. More... | |
Method | method_ |
Eigen::Vector3d | normalVectorPositiveAxis_ |
Normal vector positive axis. More... | |
std::string | outputLayersPrefix_ |
Output layer name. More... | |
Additional Inherited Members | |
Protected Member Functions inherited from filters::FilterBase< T > | |
bool | getParam (const std::string &name, std::string &value) |
bool | getParam (const std::string &name, XmlRpc::XmlRpcValue &value) |
bool | getParam (const std::string &name, double &value) |
bool | getParam (const std::string &name, std::vector< double > &value) |
bool | getParam (const std::string &name, unsigned int &value) |
bool | getParam (const std::string &name, int &value) |
bool | getParam (const std::string &name, std::vector< std::string > &value) |
bool | getParam (const std::string &name, bool &value) |
bool | loadConfiguration (XmlRpc::XmlRpcValue &config) |
Protected Attributes inherited from filters::FilterBase< T > | |
bool | configured_ |
std::string | filter_name_ |
std::string | filter_type_ |
string_map_t | params_ |
Compute the normal vectors of a layer in a map.
Definition at line 23 of file NormalVectorsFilter.hpp.
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strongprivate |
Enumerator | |
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Area | |
Raster |
Definition at line 55 of file NormalVectorsFilter.hpp.
grid_map::NormalVectorsFilter< T >::NormalVectorsFilter | ( | ) |
Constructor
Definition at line 22 of file NormalVectorsFilter.cpp.
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virtual |
Destructor.
Definition at line 29 of file NormalVectorsFilter.cpp.
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private |
Definition at line 102 of file NormalVectorsFilter.cpp.
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private |
Definition at line 164 of file NormalVectorsFilter.cpp.
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virtual |
Configures the filter from parameters on the Parameter Server
Implements filters::FilterBase< T >.
Definition at line 34 of file NormalVectorsFilter.cpp.
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virtual |
Compute the normal vectors of a layer in a map and saves it as additional grid map layer.
mapIn | grid map containing the layer for which the normal vectors are computed for. |
mapOut | grid map containing mapIn and the new layers for the normal vectors. |
Implements filters::FilterBase< T >.
Definition at line 80 of file NormalVectorsFilter.cpp.
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private |
Radius of submap for normal vector estimation.
Definition at line 63 of file NormalVectorsFilter.hpp.
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private |
Input layer name.
Definition at line 69 of file NormalVectorsFilter.hpp.
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private |
Definition at line 60 of file NormalVectorsFilter.hpp.
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private |
Normal vector positive axis.
Definition at line 66 of file NormalVectorsFilter.hpp.
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private |
Output layer name.
Definition at line 72 of file NormalVectorsFilter.hpp.