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probability_grid.h
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probability_grid.h
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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_
#define CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_
#include <vector>
#include "cartographer/common/port.h"
#include "cartographer/mapping/2d/grid_2d.h"
#include "cartographer/mapping/2d/map_limits.h"
#include "cartographer/mapping/2d/xy_index.h"
namespace cartographer {
namespace mapping {
// Represents a 2D grid of probabilities.
class ProbabilityGrid : public Grid2D {
public:
explicit ProbabilityGrid(const MapLimits& limits);
explicit ProbabilityGrid(const proto::Grid2D& proto);
// Sets the probability of the cell at 'cell_index' to the given
// 'probability'. Only allowed if the cell was unknown before.
void SetProbability(const Eigen::Array2i& cell_index,
const float probability);
// Applies the 'odds' specified when calling ComputeLookupTableToApplyOdds()
// to the probability of the cell at 'cell_index' if the cell has not already
// been updated. Multiple updates of the same cell will be ignored until
// FinishUpdate() is called. Returns true if the cell was updated.
//
// If this is the first call to ApplyOdds() for the specified cell, its value
// will be set to probability corresponding to 'odds'.
bool ApplyLookupTable(const Eigen::Array2i& cell_index,
const std::vector<uint16>& table);
// Returns the probability of the cell with 'cell_index'.
float GetProbability(const Eigen::Array2i& cell_index) const;
virtual proto::Grid2D ToProto() const override;
virtual std::unique_ptr<Grid2D> ComputeCroppedGrid() const override;
virtual bool DrawToSubmapTexture(
proto::SubmapQuery::Response::SubmapTexture* const texture,
transform::Rigid3d local_pose) const override;
};
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_