SignedDistance2d.hpp

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/*
 * SignedDistance2d.h
 *
 *  Created on: Jul 10, 2020
 *      Author: Ruben Grandia
 *   Institute: ETH Zurich
 */

#pragma once

#include <vector>

#include <grid_map_core/TypeDefs.hpp>

#include "Utils.hpp"

namespace grid_map {
namespace signed_distance_field {

Matrix signedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight);

void signedDistanceAtHeightTranspose(const Matrix& elevationMap, Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height,
                                     float resolution, float minHeight, float maxHeight);

Matrix signedDistanceFromOccupancy(const Eigen::Matrix<bool, -1, -1>& occupancyGrid, float resolution);

}  // namespace signed_distance_field
}  // namespace grid_map