DuongTD/costmap_2d
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remove file data_convert

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duongtd
2025-11-26 16:27:41 +07:00
parent 2e0a4348dd
commit 5ad8e83761
7 changed files with 25 additions and 180 deletions
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7
plugins/directional_layer.cpp
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@@ -1,7 +1,8 @@
#include <costmap_2d/directional_layer.h>
#include <costmap_2d/data_convert.h>
#include <data_convert/data_convert.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <boost/dll/alias.hpp>
@@ -134,7 +135,7 @@ namespace costmap_2d
return false;
}
// Convert to yaw
tf3::Quaternion quaternion = convertQuaternion(p.pose.orientation);
tf3::Quaternion quaternion = data_convert::convertQuaternion(p.pose.orientation);
double theta = tf3::getYaw(quaternion);
unsigned char value = laneFilter(mx, my, theta);
if (get_success)
@@ -413,7 +414,7 @@ namespace costmap_2d
}
// Copy map data given proper transformations
tf3::Transform tf3_transform;
tf3_transform = convertTotf3Transform(transformMsg.transform);
tf3_transform = data_convert::convertTotf3Transform(transformMsg.transform);
x = tf3_transform.getOrigin().x();
y = tf3_transform.getOrigin().y();
// Extract the rotation as a quaternion from the transform

5
plugins/static_layer.cpp
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@@ -1,7 +1,7 @@
#include <costmap_2d/static_layer.h>
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/data_convert.h>
#include <data_convert/data_convert.h>
#include <costmap_2d/utils.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
@@ -9,6 +9,7 @@
#include <filesystem>
#include <string>
#include <iostream>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
@@ -315,7 +316,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
}
// Copy map data given proper transformations
tf3::Transform tf3_transform;
tf3_transform = convertTotf3Transform(transformMsg.transform);
tf3_transform = data_convert::convertTotf3Transform(transformMsg.transform);
// tf3::convert(transformMsg.transform, tf3_transform);
for (unsigned int i = min_i; i < max_i; ++i)
{