File height_mapping.hpp

Height mapping API subsystem.

Functions

uint8_t mapGetOccupancyProbability(const Map2DInterface &map, const CellCoordinates &cell)

Get occupancy probability from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Occupancy probability value.

float mapGetHeight(const Map2DInterface &map, const CellCoordinates &cell)

Get height from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height.

float mapGetHeightVariance(const Map2DInterface &map, const CellCoordinates &cell)

Get height variance from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height variance.

namespace slamcore

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

Functions

uint8_t mapGetOccupancyProbability(const Map2DInterface &map, const CellCoordinates &cell)

Get occupancy probability from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Occupancy probability value.

float mapGetHeight(const Map2DInterface &map, const CellCoordinates &cell)

Get height from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height.

float mapGetHeightVariance(const Map2DInterface &map, const CellCoordinates &cell)

Get height variance from the map for a given cell index.

Parameters

  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height variance.

class HeightMappingSubsystemInterface : public virtual Map2DAccessInterface, public SubsystemInterface
#include <height_mapping.hpp>

Subsystem for accessing height maps.

Public Types

using Ptr = std::shared_ptr<HeightMappingSubsystemInterface>
using CPtr = std::shared_ptr<const HeightMappingSubsystemInterface>

Public Functions

virtual ~HeightMappingSubsystemInterface() = default