Class OccupancyMap

Nested Relationships

Class Documentation

class OccupancyMap

Map holding an Occupancy Layer, inspired by Octomap.

Public Types

typedef std::shared_ptr<OccupancyMap> Ptr

Public Functions

OccupancyMap(const Config &config)
OccupancyMap(const Layer<OccupancyVoxel> &layer)
OccupancyMap(Layer<OccupancyVoxel>::Ptr layer)
virtual ~OccupancyMap()
Layer<OccupancyVoxel> *getOccupancyLayerPtr()
const Layer<OccupancyVoxel> &getOccupancyLayer() const
FloatingPoint block_size() const

Protected Attributes

FloatingPoint block_size_
Layer<OccupancyVoxel>::Ptr occupancy_layer_
struct Config

Public Members

FloatingPoint occupancy_voxel_size = 0.2
size_t occupancy_voxels_per_side = 16u