Program Listing for File planning_utils.h¶
↰ Return to documentation for file (voxblox/include/voxblox/utils/planning_utils.h
)
#ifndef VOXBLOX_UTILS_PLANNING_UTILS_H_
#define VOXBLOX_UTILS_PLANNING_UTILS_H_
#include "voxblox/core/layer.h"
#include "voxblox/core/voxel.h"
namespace voxblox {
namespace utils {
template <typename VoxelType>
void getSphereAroundPoint(const Layer<VoxelType>& layer, const Point& center,
FloatingPoint radius,
HierarchicalIndexMap* block_voxel_list);
template <typename VoxelType>
void getAndAllocateSphereAroundPoint(const Point& center, FloatingPoint radius,
Layer<VoxelType>* layer,
HierarchicalIndexMap* block_voxel_list);
template <typename VoxelType>
void fillSphereAroundPoint(const Point& center, const FloatingPoint radius,
const FloatingPoint max_distance_m,
Layer<VoxelType>* layer);
template <typename VoxelType>
void clearSphereAroundPoint(const Point& center, const FloatingPoint radius,
const FloatingPoint max_distance_m,
Layer<VoxelType>* layer);
template <typename VoxelType>
void computeMapBoundsFromLayer(const voxblox::Layer<VoxelType>& layer,
Eigen::Vector3d* lower_bound,
Eigen::Vector3d* upper_bound);
} // namespace utils
} // namespace voxblox
#include "voxblox/utils/planning_utils_inl.h"
#endif // VOXBLOX_UTILS_PLANNING_UTILS_H_