costmap_cspace: add stacked costmap class #104
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at-wat
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Jan 23, 2018
| virtual bool updateChain() = 0; | ||
| bool updateChainEntry(const UpdatedRegion ®ion) | ||
| { | ||
| region_.merge(region); |
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move impl of processMapOverlay to here
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only if non-empty region is stored
| { | ||
| ROS_ASSERT(!root_); | ||
| ROS_ASSERT(ang_grid_ > 0); | ||
| const int ox = lroundf((msg.info.origin.position.x - map_->info.origin.position.x) / map_->info.linear_resolution); | ||
| const int oy = lroundf((msg.info.origin.position.y - map_->info.origin.position.y) / map_->info.linear_resolution); | ||
| *map_overlay_ = *map_; | ||
| gemerateCSpace(map_overlay_, msg, true); |
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store msg and region, then trigger updateChainEntry
PASSEDAll tests passed |
PASSEDAll tests passed |
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