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Grid: added "grid_eroded" parameter

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Mathieu Labbe
2015-03-20 14:04:14 -04:00
parent c58a11da0b
commit 227dc7c1ba
3 changed files with 16 additions and 5 deletions
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src/GridMapAssemblerNode.cpp
+5 -1
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@@ -49,6 +49,7 @@ public:
GridMapAssembler() :
gridCellSize_(0.05), // meters
mapSize_(0), // meters
eroded_(false),
filterRadius_(0.5),
filterAngle_(30.0) // degrees
{
@@ -57,6 +58,7 @@ public:
pnh.param("map_size", mapSize_, mapSize_); // m
pnh.param("filter_radius", filterRadius_, filterRadius_);
pnh.param("filter_angle", filterAngle_, filterAngle_);
pnh.param("eroded", eroded_, eroded_);
UASSERT(gridCellSize_ > 0.0);
UASSERT(mapSize_ >= 0.0);
@@ -117,7 +119,8 @@ public:
gridMaps_,
gridCellSize_,
xMin, yMin,
mapSize_);
mapSize_,
eroded_);
if(!pixels.empty())
{
@@ -169,6 +172,7 @@ public:
private:
double gridCellSize_;
double mapSize_;
bool eroded_;
double filterRadius_;
double filterAngle_;