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duongtd
2026-07-23 16:12:55 +07:00
parent 0e84ac53cb
commit c888af3b7c
7 changed files with 170 additions and 132 deletions
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8
include/robot_costmap_2d/observation_buffer.h
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@@ -78,8 +78,8 @@ public:
ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate,
double min_obstacle_height, double max_obstacle_height, double obstacle_range,
double raytrace_range, unsigned int frustum_pixel_step, double frustum_min_range,
double frustum_max_range, tf3::BufferCore& tf3_buffer, std::string global_frame,
double raytrace_range, const DepthFrustumConfig& frustum_config,
tf3::BufferCore& tf3_buffer, std::string global_frame,
std::string sensor_frame, double tf_tolerance);
@@ -171,9 +171,7 @@ private:
boost::recursive_mutex lock_; ///< @brief A lock for accessing data in callbacks safely
double obstacle_range_, raytrace_range_;
double tf_tolerance_;
unsigned int frustum_pixel_step_;
double frustum_min_range_;
double frustum_max_range_;
DepthFrustumConfig frustum_config_;
};
} // namespace robot_costmap_2d
#endif // ROBOT_COSTMAP_2D_OBSERVATION_BUFFER_H_