wehub-resource-sync
86 lines
3.0 KiB
C++
Executable File
86 lines
3.0 KiB
C++
Executable File
/**
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* UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
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*
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* @author D. Duberg, KTH Royal Institute of Technology, Copyright (c) 2020.
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* @see https://github.com/UnknownFreeOccupied/ufomap
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* License: BSD 3
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*
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*/
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/*
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* BSD 3-Clause License
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*
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* Copyright (c) 2020, D. Duberg, KTH Royal Institute of Technology
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef UFO_MAP_OCCUPANCY_MAP_H
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#define UFO_MAP_OCCUPANCY_MAP_H
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#include <ufo/map/occupancy_map_base.h>
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namespace ufo::map
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{
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class OccupancyMap : public OccupancyMapBase<OccupancyNode<float>>
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{
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private:
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using DATA_TYPE = OccupancyNode<float>;
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using Base = OccupancyMapBase<DATA_TYPE>;
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public:
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//
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// Constructors
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//
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OccupancyMap(double resolution, DepthType depth_levels = 16,
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bool automatic_pruning = true, double occupied_thres = 0.5,
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double free_thres = 0.5, double prob_hit = 0.7, double prob_miss = 0.4,
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double clamping_thres_min = 0.1192, double clamping_thres_max = 0.971);
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OccupancyMap(std::string const& filename, bool automatic_pruning = true,
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double occupied_thres = 0.5, double free_thres = 0.5,
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double prob_hit = 0.7, double prob_miss = 0.4,
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double clamping_thres_min = 0.1192, double clamping_thres_max = 0.971);
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OccupancyMap(OccupancyMap const& other);
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//
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// Destructor
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//
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virtual ~OccupancyMap() {}
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//
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// Tree Type
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//
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virtual std::string getTreeType() const noexcept override { return "occupancy_map"; }
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};
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} // namespace ufo::map
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#endif // UFO_MAP_OCCUPANCY_MAP_H
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