Added grid_map_core from grid_map@1.6.0

ros/src/vendor/grid_map/grid_map_core/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package grid_map_core
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.6.0 (2017-11-24)
+------------------
+* Added new sliding window iterator.
+* Added new `thickenLine()`, triangulation, and bounding box method to polygon.
+* Added unit tests for LineIterator with using move function.
+* Fixed cpp-check warnings and errors.
+* Fixed line iterator for moved maps (`#119 <https://github.com/ethz-asl/grid_map/issues/119>`_).
+* Fixed error in SpiralIterator when center is outside the map (`#114 <https://github.com/ethz-asl/grid_map/issues/114>`_).
+* Contributors: Péter Fankhauser, 2scholz, Remo Diethelm, Takahiro Miki, Tanja Baumann
+
+1.5.2 (2017-07-25)
+------------------
+
+1.5.1 (2017-07-25)
+------------------
+
+1.5.0 (2017-07-18)
+------------------
+* Added new function for polygon triangulation.
+* Added Eigen macro for bit-alignment (`#88 <https://github.com/ethz-asl/grid_map/issues/88>`_).
+* Added default copy constructor and assign operator methods after the rule of five.
+* Fixing return value in `getQuadrant` member function.
+* Fixing buffer handling bug for circular and ellipse iterators.
+* Capture case when both circles are the same in `convexHullOfTwoCircles`.
+* Fixing build error on ROS Kinetic.
+* Contributors: Peter Fankhauser, Sascha, Thomas Emter, Martin Wermelinger
+
+1.4.2 (2017-01-24)
+------------------
+* Added linear interpolation method for data access.
+* Increased efficiency for linear interpolation method.
+* Addressing C++ compiler warnings.
+* Contributors: Dominic Jud, Peter Fankhauser, Horatiu George Todoran
+
+1.4.1 (2016-10-23)
+------------------
+* Improved line iterator with start and end positions.
+* Added method to retrieve submap size for iterators.
+* Improved transformation of images to color grid map layers.
+* Fixing issues with order of include with Eigen (`#67 <https://github.com/ethz-asl/grid_map/issues/67>`_).
+* Contributors: Peter Fankhauser, Dominic Jud
+
+1.4.0 (2016-08-22)
+------------------
+* Added convenience function to convert a grid map to form with circular buffer at (0,0).
+* Contributors: Peter Fankhauser
+
+1.3.3 (2016-05-10)
+------------------
+* Release for ROS Kinetic.
+* Contributors: Peter Fankhauser
+
+1.3.2 (2016-05-10)
+------------------
+
+1.3.1 (2016-05-10)
+------------------
+* Cleanup up Eigen types as preparation for ROS Kinetic release.
+* Contributors: Peter Fankhauser
+
+1.3.0 (2016-04-26)
+------------------
+* Made the `isInside` checks `const`.
+* Fixes polygon iterator bug when using moved maps.
+* Added unit test for polygon iterator on a moved map.
+* Added comment about size of the returning submap.
+* Reduced test build warning.
+* Contributors: Peter Fankhauser, Martin Wermelinger, Marcus Liebhardt
+
+1.2.0 (2016-03-03)
+------------------
+* Improved efficiency for the Grid Map iterator (speed increase of 10x for large maps) (`#45 <https://github.com/ethz-asl/grid_map/issues/45>`_).
+* New iterator_benchmark demo to exemplify the usage of the iterators and their computational performance (`#45 <https://github.com/ethz-asl/grid_map/issues/45>`_).
+* Added new method to set the position of a grid map (`#42 <https://github.com/ethz-asl/grid_map/pull/42>`_).
+* Added new move_demo to illustrate the difference between the `move` and `setPosition` method.
+* Fixed behavior of checkIfPositionWithinMap() in edge cases (`#41 <https://github.com/ethz-asl/grid_map/issues/41>`_).
+* Updated documentation for spiral and ellipse iterator, and iterator performance.
+* const correctness for grid's getSubmap.
+* Cleanup of arguments and return types.
+* Contributors: Péter Fankhauser, Christos Zalidis, Daniel Stonier
+
+1.1.3 (2016-01-11)
+------------------
+
+1.1.2 (2016-01-11)
+------------------
+* Should fix errors on build server regarding Eigen3 and visualization_msgs dependencies.
+
+1.1.1 (2016-01-11)
+------------------
+* Changes to CMakeLists.txt to enable compatibility with Ubuntu Saucy.
+
+1.1.0 (2016-01-08)
+-------------------
+* added installation instructions in CMakeLists
+* new ellipse iterator tool
+* general improvements and bugfixes
+
+1.0.0 (2015-11-20)
+-------------------
+* release for Springer ROS Book Chapter

ros/src/vendor/grid_map/grid_map_core/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(grid_map_core)
+
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS)
+
+## Define Eigen addons. 
+include(cmake/${PROJECT_NAME}-extras.cmake)
+
+## System dependencies are found with CMake's conventions
+#find_package(Eigen3 REQUIRED)
+# Solution to find Eigen3 with Saucy.
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  find_package(PkgConfig REQUIRED)
+  pkg_check_modules(EIGEN3 REQUIRED eigen3)
+  set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS})
+endif()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIR}
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  DEPENDS
+    #Eigen3
+  CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+## Declare a cpp library
+add_library(${PROJECT_NAME}
+   src/GridMap.cpp
+   src/GridMapMath.cpp
+   src/SubmapGeometry.cpp
+   src/BufferRegion.cpp
+   src/Polygon.cpp
+   src/iterators/GridMapIterator.cpp
+   src/iterators/SubmapIterator.cpp
+   src/iterators/CircleIterator.cpp
+   src/iterators/EllipseIterator.cpp
+   src/iterators/SpiralIterator.cpp
+   src/iterators/PolygonIterator.cpp
+   src/iterators/LineIterator.cpp
+   src/iterators/SlidingWindowIterator.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.hpp"
+)
+
+# Mark other files for installation
+install(
+  DIRECTORY doc
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+## Add gtest based cpp test target and link libraries
+catkin_add_gtest(${PROJECT_NAME}-test
+  test/test_grid_map_core.cpp
+  test/GridMapMathTest.cpp
+  test/GridMapTest.cpp
+  test/GridMapIteratorTest.cpp
+  test/LineIteratorTest.cpp
+  test/EllipseIteratorTest.cpp
+  test/SubmapIteratorTest.cpp
+  test/PolygonIteratorTest.cpp
+  test/PolygonTest.cpp
+  test/EigenPluginsTest.cpp
+  test/SpiralIteratorTest.cpp
+  test/SlidingWindowIteratorTest.cpp
+  )
+endif()
+
+if(TARGET ${PROJECT_NAME}-test)
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+endif()

ros/src/vendor/grid_map/grid_map_core/cmake/grid_map_core-extras.cmake

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+set(EIGEN_FUNCTORS_PLUGIN_PATH "grid_map_core/eigen_plugins/FunctorsPlugin.hpp")
+if (EIGEN_FUNCTORS_PLUGIN)
+  if (NOT EIGEN_FUNCTORS_PLUGIN STREQUAL EIGEN_FUNCTORS_PLUGIN_PATH)
+    MESSAGE(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined!")
+  endif ()
+else (EIGEN_FUNCTORS_PLUGIN)
+  add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
+endif (EIGEN_FUNCTORS_PLUGIN)
+
+set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
+if (EIGEN_DENSEBASE_PLUGIN)
+  if (NOT EIGEN_DENSEBASE_PLUGIN STREQUAL EIGEN_DENSEBASE_PLUGIN_PATH)
+    MESSAGE(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
+  endif ()
+else (EIGEN_DENSEBASE_PLUGIN)
+    add_definitions(-DEIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
+endif (EIGEN_DENSEBASE_PLUGIN)

ros/src/vendor/grid_map/grid_map_core/include/grid_map_core/BufferRegion.hpp

@@ -0,0 +1,63 @@
+/*
+ * BufferRegion.hpp
+ *
+ *  Created on: Aug 19, 2015
+ *      Author: Péter Fankhauser
+ *   Institute: ETH Zurich, Autonomous Systems Lab
+ */
+
+#pragma once
+
+#include "grid_map_core/TypeDefs.hpp"
+
+namespace grid_map {
+
+/*!
+ * This class holds information about a rectangular region
+ * of cells of the circular buffer.
+ */
+class BufferRegion
+{
+ public:
+
+  /*!
+   * The definition of the buffer region positions.
+   */
+  enum class Quadrant
+  {
+    Undefined,
+    TopLeft,
+    TopRight,
+    BottomLeft,
+    BottomRight
+  };
+
+  constexpr static unsigned int nQuadrants = 4;
+
+  BufferRegion();
+  BufferRegion(const Index& startIndex, const Size& size, const BufferRegion::Quadrant& quadrant);
+  virtual ~BufferRegion();
+
+  const Index& getStartIndex() const;
+  void setStartIndex(const Index& startIndex);
+  const Size& getSize() const;
+  void setSize(const Size& size);
+  BufferRegion::Quadrant getQuadrant() const;
+  void setQuadrant(BufferRegion::Quadrant type);
+
+ private:
+
+  //! Start index (typically top-left) of the buffer region.
+  Index staretIndex_;
+
+  //! Size of the buffer region.
+  Size size_;
+
+  //! Quadrant type of the buffer region.
+  Quadrant quadrant_;
+
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} /* namespace grid_map */