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Removed grid_map as public dependency

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matlabbe
2024-10-08 20:01:38 -07:00
parent 595f200a89
commit 465ea85d91
6 changed files with 70 additions and 65 deletions
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9
corelib/include/rtabmap/core/global_map/GridMap.h
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@@ -35,7 +35,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <grid_map_core/GridMap.hpp>
namespace grid_map {
class GridMap;
}
namespace rtabmap {
@@ -44,9 +46,10 @@ class RTABMAP_CORE_EXPORT GridMap : public GlobalMap
public:
GridMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
virtual ~GridMap();
virtual void clear();
const grid_map::GridMap & gridMap() const {return gridMap_;}
const grid_map::GridMap * gridMap() const {return gridMap_;}
cv::Mat createHeightMap(float & xMin, float & yMin, float & cellSize) const;
cv::Mat createColorMap(float & xMin, float & yMin, float & cellSize) const;
@@ -60,7 +63,7 @@ private:
cv::Mat toImage(const std::string & layer, float & xMin, float & yMin, float & cellSize) const;
private:
grid_map::GridMap gridMap_;
grid_map::GridMap * gridMap_;
float minMapSize_;
};