60 lines
2.4 KiB
C++
60 lines
2.4 KiB
C++
/*
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* Copyright 2018 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_TSDF_RANGE_DATA_INSERTER_2D_H_
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#define CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/mapping/2d/tsdf_2d.h"
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#include "cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.pb.h"
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#include "cartographer/mapping/range_data_inserter_interface.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/range_data.h"
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namespace cartographer {
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namespace mapping {
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proto::TSDFRangeDataInserterOptions2D CreateTSDFRangeDataInserterOptions2D(
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common::LuaParameterDictionary* parameter_dictionary);
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class TSDFRangeDataInserter2D : public RangeDataInserterInterface {
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public:
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explicit TSDFRangeDataInserter2D(
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const proto::TSDFRangeDataInserterOptions2D& options);
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TSDFRangeDataInserter2D(const TSDFRangeDataInserter2D&) = delete;
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TSDFRangeDataInserter2D& operator=(const TSDFRangeDataInserter2D&) = delete;
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// Casts a ray from origin towards hit for each hit in range data.
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// If 'options.update_free_space' is 'true', all cells along the ray
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// until 'truncation_distance' behind hit are updated. Otherwise, only the
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// cells within 'truncation_distance' around hit are updated.
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virtual void Insert(const sensor::RangeData& range_data,
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GridInterface* grid) const override;
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private:
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void InsertHit(const proto::TSDFRangeDataInserterOptions2D& options,
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const Eigen::Vector2f& hit, const Eigen::Vector2f& origin,
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float normal, TSDF2D* tsdf) const;
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void UpdateCell(const Eigen::Array2i& cell, float update_sdf,
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float update_weight, TSDF2D* tsdf) const;
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const proto::TSDFRangeDataInserterOptions2D options_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_
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