MinInRadiusFilter.hpp

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/*
 * MinInRadiusFilter.hpp
 *
 *  Created on: May 3, 2017
 *      Author: Tanja Baumann, Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <string>

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

namespace grid_map {

class MinInRadiusFilter : public filters::FilterBase<GridMap> {
 public:
  MinInRadiusFilter();

  ~MinInRadiusFilter() override;

  bool configure() override;

  bool update(const GridMap& mapIn, GridMap& mapOut) override;

 private:
  double radius_;

  std::string inputLayer_;

  std::string outputLayer_;
};

}  // namespace grid_map