DuongTD/costmap_2d
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hiep update

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HiepLM
2025-12-30 10:42:34 +07:00
parent 72b2f3c639
commit 6c682712fe
4 changed files with 23 additions and 23 deletions
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4
include/robot_costmap_2d/obstacle_layer.h
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@@ -46,7 +46,7 @@
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.hpp>
#include <robot_laser_geometry/laser_geometry.hpp>
#include <robot_sensor_msgs/PointCloud.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_sensor_msgs/point_cloud_conversion.h>
@@ -149,7 +149,7 @@ protected:
std::string global_frame_; ///< @brief The global frame for the costmap
double max_obstacle_height_; ///< @brief Max Obstacle Height
laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
robot_laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
std::vector<boost::shared_ptr<robot_costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
std::vector<boost::shared_ptr<robot_costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles

8
include/robot_costmap_2d/voxel_layer.h
View File

@@ -44,12 +44,12 @@
#include <robot_costmap_2d/voxel_grid.h>
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.hpp>
#include <robot_laser_geometry/laser_geometry.hpp>
#include <robot_sensor_msgs/PointCloud.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_sensor_msgs/point_cloud_conversion.h>
#include <robot_costmap_2d/obstacle_layer.h>
#include <voxel_grid/voxel_grid.h>
#include <robot_voxel_grid/voxel_grid.h>
namespace robot_costmap_2d
{
@@ -58,7 +58,7 @@ class VoxelLayer : public ObstacleLayer
{
public:
VoxelLayer() :
voxel_grid_(0, 0, 0)
robot_voxel_grid_(0, 0, 0)
{
costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D.
}
@@ -90,7 +90,7 @@ private:
bool publish_voxel_;
voxel_grid::VoxelGrid voxel_grid_;
robot_voxel_grid::VoxelGrid robot_voxel_grid_;
double z_resolution_, origin_z_;
unsigned int unknown_threshold_, mark_threshold_, size_z_;
robot_sensor_msgs::PointCloud clearing_endpoints_;