72 lines
2.6 KiB
C++
72 lines
2.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_
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#define CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_
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#include <vector>
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/2d/grid_2d.h"
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#include "cartographer/mapping/2d/map_limits.h"
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#include "cartographer/mapping/2d/xy_index.h"
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namespace cartographer {
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namespace mapping {
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// Represents a 2D grid of probabilities.
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class ProbabilityGrid : public Grid2D {
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public:
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explicit ProbabilityGrid(const MapLimits& limits,
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ValueConversionTables* conversion_tables);
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explicit ProbabilityGrid(const proto::Grid2D& proto,
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ValueConversionTables* conversion_tables);
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// Sets the probability of the cell at 'cell_index' to the given
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// 'probability'. Only allowed if the cell was unknown before.
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void SetProbability(const Eigen::Array2i& cell_index,
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const float probability);
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// Applies the 'odds' specified when calling ComputeLookupTableToApplyOdds()
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// to the probability of the cell at 'cell_index' if the cell has not already
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// been updated. Multiple updates of the same cell will be ignored until
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// FinishUpdate() is called. Returns true if the cell was updated.
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//
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// If this is the first call to ApplyOdds() for the specified cell, its value
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// will be set to probability corresponding to 'odds'.
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bool ApplyLookupTable(const Eigen::Array2i& cell_index,
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const std::vector<uint16>& table);
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GridType GetGridType() const override;
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// Returns the probability of the cell with 'cell_index'.
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float GetProbability(const Eigen::Array2i& cell_index) const;
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proto::Grid2D ToProto() const override;
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std::unique_ptr<Grid2D> ComputeCroppedGrid() const override;
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bool DrawToSubmapTexture(
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proto::SubmapQuery::Response::SubmapTexture* const texture,
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transform::Rigid3d local_pose) const override;
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private:
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ValueConversionTables* conversion_tables_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_
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