61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_MAPPING_2D_LASER_FAN_INSERTER_H_
|
|
#define CARTOGRAPHER_MAPPING_2D_LASER_FAN_INSERTER_H_
|
|
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#include "cartographer/common/lua_parameter_dictionary.h"
|
|
#include "cartographer/common/port.h"
|
|
#include "cartographer/mapping_2d/probability_grid.h"
|
|
#include "cartographer/mapping_2d/proto/laser_fan_inserter_options.pb.h"
|
|
#include "cartographer/mapping_2d/xy_index.h"
|
|
#include "cartographer/sensor/laser.h"
|
|
#include "cartographer/sensor/point_cloud.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping_2d {
|
|
|
|
proto::LaserFanInserterOptions CreateLaserFanInserterOptions(
|
|
common::LuaParameterDictionary* parameter_dictionary);
|
|
|
|
class LaserFanInserter {
|
|
public:
|
|
explicit LaserFanInserter(const proto::LaserFanInserterOptions& options);
|
|
|
|
LaserFanInserter(const LaserFanInserter&) = delete;
|
|
LaserFanInserter& operator=(const LaserFanInserter&) = delete;
|
|
|
|
// Inserts 'laser_fan' into 'probability_grid'.
|
|
void Insert(const sensor::LaserFan& laser_fan,
|
|
ProbabilityGrid* probability_grid) const;
|
|
|
|
const std::vector<uint16>& hit_table() const { return hit_table_; }
|
|
const std::vector<uint16>& miss_table() const { return miss_table_; }
|
|
|
|
private:
|
|
const proto::LaserFanInserterOptions options_;
|
|
const std::vector<uint16> hit_table_;
|
|
const std::vector<uint16> miss_table_;
|
|
};
|
|
|
|
} // namespace mapping_2d
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_2D_LASER_FAN_INSERTER_H_
|