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Document HybridGrid limits. (#939) 

Adds documentation to avoid issue #937.
master
gaschler 2018-02-27 15:28:35 +01:00 committed by Alexander Belyaev
parent f606d4b91c
commit 63fd497e0f
1 changed files with 4 additions and 0 deletions
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cartographer/mapping/3d/hybrid_grid.h
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@ -461,6 +461,10 @@ class HybridGridBase : public Grid<ValueType> {
// A grid containing probability values stored using 15 bits, and an update // A grid containing probability values stored using 15 bits, and an update
// marker per voxel. // marker per voxel.
// Points are expected to be close to the origin. Points far from the origin
// require the grid to grow dynamically. For centimeter resolution, points
// can only be tens of meters from the origin.
// The hard limit of cell indexes is +/- 8192 around the origin.
class HybridGrid : public HybridGridBase<uint16> { class HybridGrid : public HybridGridBase<uint16> {
public: public:
explicit HybridGrid(const float resolution) explicit HybridGrid(const float resolution)