Function utils::pointToCell

• Defined in File utils.hpp

Function Documentation

Point2i utils::pointToCell(geometry_msgs::msg::PointStamped point, nav_msgs::msg::MapMetaData map_info, std::string target_frame_id, std::shared_ptr<tf2_ros::Buffer> tf_buffer)

Convert a point to a cell in the occupancy grid.

Parameters:

• point – point to convert

• map_info – occupancy grid metadata

• target_frame_id – target frame id

• tf_buffer – tf buffer