27 namespace localization {
29 namespace pyramid_map {
38 bool create_map_cells =
true);
50 int altitude_index)
const;
56 int altitude_index)
const;
static void Reduce(NdtMapNode *map_node, const NdtMapNode &map_node_new)
Combine two map nodes (Reduce operation in mapreduce). The result is saved in map_node.
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
unsigned int num_valid_cells_
The number of cells with elements.
Definition: ndt_map_node.h:63
Eigen::Vector3d GetCoordinate3D(unsigned int x, unsigned int y, int altitude_index) const
Given the local x, y, altitude index, return the global coordinate.
Eigen::Vector3d Vector3d
Definition: frame_transform.h:27
unsigned int num_valid_single_cells_
The number of single cells with elements.
Definition: ndt_map_node.h:65
MapNodeIndex index_
The index of this node.
Definition: base_map_node.h:189
unsigned int resolution_id_
The ID of the resolution. Should be less than BaseMapConfig::_map_resolutions.size().
Definition: base_map_node_index.h:68
void Init(const BaseMapConfig *map_config)
Initialize the map node. Call this function first before use it!
The data structure of a Node in the map.
Definition: base_map_node.h:37
Definition: ndt_map_node.h:31
The options of the reflectance map.
Definition: ndt_map_config.h:29
The options of the reflectance map.
Definition: base_map_config.h:42
float GetMapResolutionZ() const
Get the resolution of this map nodex.
Definition: ndt_map_node.h:41
Definition: base_map_node_index.h:33
Eigen::Vector3d GetCoordinateCenter3D(unsigned int x, unsigned int y, int altitude_index) const
Given the local x, y, altitude index, return the global coordinate.
const BaseMapConfig * map_config_
The map settings.
Definition: base_map_node.h:186