From 4d76ddc0c553b3631fb5458372b6cf2e097526f9 Mon Sep 17 00:00:00 2001 From: duongtd Date: Thu, 15 Jan 2026 10:25:40 +0700 Subject: [PATCH] update --- include/robot_grid_map_core/BufferRegion.hpp | 4 +- .../CubicInterpolation.hpp | 6 +-- include/robot_grid_map_core/GridMap.hpp | 10 ++--- include/robot_grid_map_core/GridMapMath.hpp | 4 +- include/robot_grid_map_core/Polygon.hpp | 4 +- .../robot_grid_map_core/SubmapGeometry.hpp | 4 +- include/robot_grid_map_core/TypeDefs.hpp | 4 +- .../eigen_plugins/Functors.hpp | 4 +- include/robot_grid_map_core/gtest_eigen.hpp | 8 ++-- .../iterators/CircleIterator.hpp | 4 +- .../iterators/EllipseIterator.hpp | 4 +- .../iterators/GridMapIterator.hpp | 6 +-- .../iterators/LineIterator.hpp | 12 +++--- .../iterators/PolygonIterator.hpp | 10 ++--- .../iterators/SlidingWindowIterator.hpp | 4 +- .../iterators/SpiralIterator.hpp | 6 +-- .../iterators/SubmapIterator.hpp | 10 ++--- package.xml | 4 +- src/BufferRegion.cpp | 4 +- src/CubicInterpolation.cpp | 6 +-- src/GridMap.cpp | 4 +- src/GridMapMath.cpp | 4 +- src/Polygon.cpp | 6 +-- src/SubmapGeometry.cpp | 4 +- src/iterators/CircleIterator.cpp | 4 +- src/iterators/EllipseIterator.cpp | 4 +- src/iterators/GridMapIterator.cpp | 6 +-- src/iterators/LineIterator.cpp | 12 +++--- src/iterators/PolygonIterator.cpp | 8 ++-- src/iterators/SlidingWindowIterator.cpp | 4 +- src/iterators/SpiralIterator.cpp | 6 +-- src/iterators/SubmapIterator.cpp | 12 +++--- test/CubicConvolutionInterpolationTest.cpp | 2 +- test/CubicInterpolationTest.cpp | 2 +- test/EigenPluginsTest.cpp | 2 +- test/EllipseIteratorTest.cpp | 8 ++-- test/GridMapIteratorTest.cpp | 8 ++-- test/GridMapMathTest.cpp | 4 +- test/GridMapTest.cpp | 4 +- test/LineIteratorTest.cpp | 4 +- test/PolygonIteratorTest.cpp | 10 ++--- test/PolygonTest.cpp | 6 +-- test/SlidingWindowIteratorTest.cpp | 10 ++--- test/SpiralIteratorTest.cpp | 8 ++-- test/SubmapIteratorTest.cpp | 8 ++-- test/test_helpers.cpp | 40 +++++++++---------- test/test_helpers.hpp | 28 ++++++------- 47 files changed, 168 insertions(+), 168 deletions(-) diff --git a/include/robot_grid_map_core/BufferRegion.hpp b/include/robot_grid_map_core/BufferRegion.hpp index 71c12cb..18ade88 100644 --- a/include/robot_grid_map_core/BufferRegion.hpp +++ b/include/robot_grid_map_core/BufferRegion.hpp @@ -10,7 +10,7 @@ #include "robot_grid_map_core/TypeDefs.hpp" -namespace grid_map { +namespace robot_grid_map { /*! * This class holds information about a rectangular region @@ -60,4 +60,4 @@ class BufferRegion EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/include/robot_grid_map_core/CubicInterpolation.hpp b/include/robot_grid_map_core/CubicInterpolation.hpp index 6f17fe4..1ba5b6f 100644 --- a/include/robot_grid_map_core/CubicInterpolation.hpp +++ b/include/robot_grid_map_core/CubicInterpolation.hpp @@ -26,7 +26,7 @@ * http://www.geovista.psu.edu/sites/geocomp99/Gc99/082/gc_082.htm */ -namespace grid_map { +namespace robot_grid_map { class GridMap; @@ -229,7 +229,7 @@ bool getUnitSquareCornerIndices(const GridMap &gridMap, const Position &queriedP * is closest to the queried position. * @param[in] gridMap - grid map with discrete function values * @param[in] queriedPosition - position for which the interpolation is requested - * @param[out] index - indices of the closest point in grid_map + * @param[out] index - indices of the closest point in robot_grid_map * @return - true if success */ bool getClosestPointIndices(const GridMap &gridMap, const Position &queriedPosition, Index *index); @@ -342,4 +342,4 @@ bool computeNormalizedCoordinates(const GridMap &gridMap, const Index &originInd } /* namespace bicubic */ -} /* namespace grid_map*/ +} /* namespace robot_grid_map*/ diff --git a/include/robot_grid_map_core/GridMap.hpp b/include/robot_grid_map_core/GridMap.hpp index 241180e..0c8f14b 100644 --- a/include/robot_grid_map_core/GridMap.hpp +++ b/include/robot_grid_map_core/GridMap.hpp @@ -20,7 +20,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { class SubmapGeometry; @@ -40,8 +40,8 @@ class SubmapGeometry; class GridMap { public: // Type traits for use with template methods/classes using GridMap as a template parameter. - typedef grid_map::DataType DataType; - typedef grid_map::Matrix Matrix; + typedef robot_grid_map::DataType DataType; + typedef robot_grid_map::Matrix Matrix; /*! * Constructor. @@ -176,7 +176,7 @@ class GridMap { * @param other the other grid map. * @return true if the other grid map has the same layers, false otherwise. */ - bool hasSameLayers(const grid_map::GridMap& other) const; + bool hasSameLayers(const robot_grid_map::GridMap& other) const; /*! * Get cell data at requested position. @@ -586,4 +586,4 @@ class GridMap { EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/GridMapMath.hpp b/include/robot_grid_map_core/GridMapMath.hpp index fc63b9b..ef12c38 100644 --- a/include/robot_grid_map_core/GridMapMath.hpp +++ b/include/robot_grid_map_core/GridMapMath.hpp @@ -15,7 +15,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { union Color { @@ -341,4 +341,4 @@ void colorVectorToValue(const Eigen::Vector3i& colorVector, float& colorValue); */ void colorVectorToValue(const Eigen::Vector3f& colorVector, float& colorValue); -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/Polygon.hpp b/include/robot_grid_map_core/Polygon.hpp index 8b5d60e..c95540f 100644 --- a/include/robot_grid_map_core/Polygon.hpp +++ b/include/robot_grid_map_core/Polygon.hpp @@ -16,7 +16,7 @@ // Eigen #include -namespace grid_map { +namespace robot_grid_map { class Polygon { @@ -246,4 +246,4 @@ class Polygon EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/include/robot_grid_map_core/SubmapGeometry.hpp b/include/robot_grid_map_core/SubmapGeometry.hpp index dac043c..cbfa219 100644 --- a/include/robot_grid_map_core/SubmapGeometry.hpp +++ b/include/robot_grid_map_core/SubmapGeometry.hpp @@ -10,7 +10,7 @@ #include -namespace grid_map { +namespace robot_grid_map { class GridMap; @@ -70,4 +70,4 @@ class SubmapGeometry EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/include/robot_grid_map_core/TypeDefs.hpp b/include/robot_grid_map_core/TypeDefs.hpp index 04a7a36..ceaaa6d 100644 --- a/include/robot_grid_map_core/TypeDefs.hpp +++ b/include/robot_grid_map_core/TypeDefs.hpp @@ -11,7 +11,7 @@ #include -namespace grid_map { +namespace robot_grid_map { using Matrix = Eigen::MatrixXf; using DataType = Matrix::Scalar; @@ -43,5 +43,5 @@ namespace grid_map { INTER_CUBIC // standard bicubic interpolation }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/eigen_plugins/Functors.hpp b/include/robot_grid_map_core/eigen_plugins/Functors.hpp index 1f9f665..85536b9 100644 --- a/include/robot_grid_map_core/eigen_plugins/Functors.hpp +++ b/include/robot_grid_map_core/eigen_plugins/Functors.hpp @@ -8,7 +8,7 @@ #pragma once -namespace grid_map { +namespace robot_grid_map { template struct Clamp @@ -25,4 +25,4 @@ struct Clamp Scalar min_, max_; }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/gtest_eigen.hpp b/include/robot_grid_map_core/gtest_eigen.hpp index 8872ab8..dd4f8c0 100644 --- a/include/robot_grid_map_core/gtest_eigen.hpp +++ b/include/robot_grid_map_core/gtest_eigen.hpp @@ -12,7 +12,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { template Eigen::Matrix randomCovariance() @@ -136,7 +136,7 @@ namespace grid_map { for(int c = 0; c < (A).cols(); c++) \ { \ double percentError = 0.0; \ - ASSERT_TRUE(grid_map::compareRelative( (A)(r,c), (B)(r,c), PERCENT_TOLERANCE, &percentError)) \ + ASSERT_TRUE(robot_grid_map::compareRelative( (A)(r,c), (B)(r,c), PERCENT_TOLERANCE, &percentError)) \ << (MSG) << "\nComparing:\n" \ << #A << "(" << r << "," << c << ") = " << (A)(r,c) << std::endl \ << #B << "(" << r << "," << c << ") = " << (B)(r,c) << std::endl \ @@ -153,7 +153,7 @@ namespace grid_map { for(int c = 0; c < (A).cols(); c++) \ { \ double percentError = 0.0; \ - ASSERT_TRUE(grid_map::compareRelative( (A).coeff(r,c), (B).coeff(r,c), PERCENT_TOLERANCE, &percentError)) \ + ASSERT_TRUE(robot_grid_map::compareRelative( (A).coeff(r,c), (B).coeff(r,c), PERCENT_TOLERANCE, &percentError)) \ << (MSG) << "\nComparing:\n" \ << #A << "(" << r << "," << c << ") = " << (A).coeff(r,c) << std::endl \ << #B << "(" << r << "," << c << ") = " << (B).coeff(r,c) << std::endl \ @@ -162,4 +162,4 @@ namespace grid_map { } \ } -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/CircleIterator.hpp b/include/robot_grid_map_core/iterators/CircleIterator.hpp index ace89ca..c19b6e6 100644 --- a/include/robot_grid_map_core/iterators/CircleIterator.hpp +++ b/include/robot_grid_map_core/iterators/CircleIterator.hpp @@ -15,7 +15,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate through a circular area of the map. @@ -97,5 +97,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/EllipseIterator.hpp b/include/robot_grid_map_core/iterators/EllipseIterator.hpp index d015409..407df41 100644 --- a/include/robot_grid_map_core/iterators/EllipseIterator.hpp +++ b/include/robot_grid_map_core/iterators/EllipseIterator.hpp @@ -15,7 +15,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate through a ellipsoid area of the map. @@ -106,5 +106,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/GridMapIterator.hpp b/include/robot_grid_map_core/iterators/GridMapIterator.hpp index d99dfd1..ea490bd 100644 --- a/include/robot_grid_map_core/iterators/GridMapIterator.hpp +++ b/include/robot_grid_map_core/iterators/GridMapIterator.hpp @@ -13,7 +13,7 @@ // Eigen #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate trough the entire grid map. @@ -26,7 +26,7 @@ public: * Constructor. * @param gridMap the grid map to iterate on. */ - GridMapIterator(const grid_map::GridMap &gridMap); + GridMapIterator(const robot_grid_map::GridMap &gridMap); /*! * Copy constructor. @@ -101,5 +101,5 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/LineIterator.hpp b/include/robot_grid_map_core/iterators/LineIterator.hpp index 4e57dab..ad8115f 100644 --- a/include/robot_grid_map_core/iterators/LineIterator.hpp +++ b/include/robot_grid_map_core/iterators/LineIterator.hpp @@ -13,7 +13,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate over a line in the map. @@ -30,7 +30,7 @@ public: * @param end the ending point of the line. * @throw std::invalid_argument if start and end impose an ill conditioned line iteration. */ - LineIterator(const grid_map::GridMap& gridMap, const Position& start, const Position& end); + LineIterator(const robot_grid_map::GridMap& gridMap, const Position& start, const Position& end); /*! * Constructor. @@ -38,7 +38,7 @@ public: * @param start the starting index of the line. * @param end the ending index of the line. */ - LineIterator(const grid_map::GridMap& gridMap, const Index& start, const Index& end); + LineIterator(const robot_grid_map::GridMap& gridMap, const Index& start, const Index& end); /*! * Compare to another iterator. @@ -74,7 +74,7 @@ private: * @param end the ending index of the line. * @return true if successful, false otherwise. */ - bool initialize(const grid_map::GridMap& gridMap, const Index& start, const Index& end); + bool initialize(const robot_grid_map::GridMap& gridMap, const Index& start, const Index& end); /*! * Computes the parameters requires for the line drawing algorithm. @@ -89,7 +89,7 @@ private: * @param[out] index the index of the moved start position. * @return true if successful, false otherwise. */ - static bool getIndexLimitedToMapRange(const grid_map::GridMap& gridMap, const Position& start, + static bool getIndexLimitedToMapRange(const robot_grid_map::GridMap& gridMap, const Position& start, const Position& end, Index& index); //! Current index. @@ -122,5 +122,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/PolygonIterator.hpp b/include/robot_grid_map_core/iterators/PolygonIterator.hpp index e4032ed..6afb6a1 100644 --- a/include/robot_grid_map_core/iterators/PolygonIterator.hpp +++ b/include/robot_grid_map_core/iterators/PolygonIterator.hpp @@ -14,7 +14,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate through a polygonal area of the map. @@ -28,7 +28,7 @@ public: * @param gridMap the grid map to iterate on. * @param polygon the polygonal area to iterate on. */ - PolygonIterator(const grid_map::GridMap& gridMap, const grid_map::Polygon& polygon); + PolygonIterator(const robot_grid_map::GridMap& gridMap, const robot_grid_map::Polygon& polygon); /*! * Compare to another iterator. @@ -68,10 +68,10 @@ private: * @param[out] startIndex the start index of the submap. * @param[out] bufferSize the buffer size of the submap. */ - void findSubmapParameters(const grid_map::Polygon& polygon, Index& startIndex,Size& bufferSize) const; + void findSubmapParameters(const robot_grid_map::Polygon& polygon, Index& startIndex,Size& bufferSize) const; //! Polygon to iterate on. - grid_map::Polygon polygon_; + robot_grid_map::Polygon polygon_; //! Grid submap iterator. std::shared_ptr internalIterator_; @@ -87,5 +87,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp b/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp index cd2d52a..0b73253 100644 --- a/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp +++ b/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp @@ -14,7 +14,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate trough the entire grid map with access to a layer's @@ -91,5 +91,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/SpiralIterator.hpp b/include/robot_grid_map_core/iterators/SpiralIterator.hpp index e77516e..59bf0a8 100644 --- a/include/robot_grid_map_core/iterators/SpiralIterator.hpp +++ b/include/robot_grid_map_core/iterators/SpiralIterator.hpp @@ -14,7 +14,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate through a circular area of the map with a spiral. @@ -29,7 +29,7 @@ public: * @param center the position of the circle center. * @param radius the radius of the circle. */ - SpiralIterator(const grid_map::GridMap& gridMap, Eigen::Vector2d center, double radius); + SpiralIterator(const robot_grid_map::GridMap& gridMap, Eigen::Vector2d center, double radius); /*! * Compare to another iterator. @@ -105,5 +105,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/include/robot_grid_map_core/iterators/SubmapIterator.hpp b/include/robot_grid_map_core/iterators/SubmapIterator.hpp index b8a8ec8..20c458b 100644 --- a/include/robot_grid_map_core/iterators/SubmapIterator.hpp +++ b/include/robot_grid_map_core/iterators/SubmapIterator.hpp @@ -14,7 +14,7 @@ #include -namespace grid_map { +namespace robot_grid_map { /*! * Iterator class to iterate through a rectangular part of the map (submap). @@ -29,13 +29,13 @@ public: * Constructor. * @param submap the submap geometry to iterate over. */ - SubmapIterator(const grid_map::SubmapGeometry& submap); + SubmapIterator(const robot_grid_map::SubmapGeometry& submap); /*! * Constructor. * @param submap the buffer region of a grid map to iterate over. */ - SubmapIterator(const grid_map::GridMap& gridMap, const grid_map::BufferRegion& bufferRegion); + SubmapIterator(const robot_grid_map::GridMap& gridMap, const robot_grid_map::BufferRegion& bufferRegion); /*! * Constructor. @@ -43,7 +43,7 @@ public: * @param submapStartIndex the start index of the submap, typically top-left index. * @param submapSize the size of the submap to iterate on. */ - SubmapIterator(const grid_map::GridMap& gridMap, const Index& submapStartIndex, + SubmapIterator(const robot_grid_map::GridMap& gridMap, const Index& submapStartIndex, const Size& submapSize); /*! @@ -115,5 +115,5 @@ private: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; -} // namespace grid_map +} // namespace robot_grid_map diff --git a/package.xml b/package.xml index 24b0c63..50c21f7 100644 --- a/package.xml +++ b/package.xml @@ -6,8 +6,8 @@ Maximilian Wulf Yoshua Nava BSD - http://github.com/anybotics/grid_map - http://github.com/anybotics/grid_map/issues + http://github.com/anybotics/robot_grid_map + http://github.com/anybotics/robot_grid_map/issues Péter Fankhauser catkin diff --git a/src/BufferRegion.cpp b/src/BufferRegion.cpp index 8925920..99dd942 100644 --- a/src/BufferRegion.cpp +++ b/src/BufferRegion.cpp @@ -7,7 +7,7 @@ */ #include -namespace grid_map { +namespace robot_grid_map { BufferRegion::BufferRegion() : startIndex_(Index::Zero()), size_(Size::Zero()), @@ -51,6 +51,6 @@ void BufferRegion::setQuadrant(BufferRegion::Quadrant type) quadrant_ = type; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/CubicInterpolation.cpp b/src/CubicInterpolation.cpp index caf09fb..02cf54c 100644 --- a/src/CubicInterpolation.cpp +++ b/src/CubicInterpolation.cpp @@ -10,7 +10,7 @@ #include "robot_grid_map_core/GridMap.hpp" -namespace grid_map { +namespace robot_grid_map { unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem) { @@ -101,7 +101,7 @@ bool assembleFunctionValueMatrix(const GridMap &gridMap, const std::string &laye * they use a coordinate frame centered around (i,j). Therefore: * f(i+1,j-1) in their notation corresponds to f(i-1,j+1) in ours. This is * because our coordinate frame sits in the top left corner, see - * https://github.com/ANYbotics/grid_map + * https://github.com/ANYbotics/robot_grid_map */ *data << f(i + 1, j + 1), f(i, j + 1), f(i - 1, j + 1), f(i - 2, j + 1), f(i + 1, j), f(i, j), f( i - 1, j), f(i - 2, j), f(i + 1, j - 1), f(i, j - 1), f(i - 1, j - 1), f(i - 2, j - 1), f( @@ -433,4 +433,4 @@ void assembleFunctionValueMatrix(const DataMatrix &f, const DataMatrix &dfx, con } /* namespace bicubic*/ -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/GridMap.cpp b/src/GridMap.cpp index 34b7ec1..7ce7d73 100644 --- a/src/GridMap.cpp +++ b/src/GridMap.cpp @@ -23,7 +23,7 @@ using std::cout; using std::endl; using std::isfinite; -namespace grid_map { +namespace robot_grid_map { GridMap::GridMap(const std::vector& layers) { position_.setZero(); @@ -888,4 +888,4 @@ bool GridMap::atPositionBicubicInterpolated(const std::string& layer, const Posi } -} // namespace grid_map +} // namespace robot_grid_map diff --git a/src/GridMapMath.cpp b/src/GridMapMath.cpp index 9e6df80..c47079f 100644 --- a/src/GridMapMath.cpp +++ b/src/GridMapMath.cpp @@ -16,7 +16,7 @@ using std::numeric_limits; -namespace grid_map { +namespace robot_grid_map { namespace internal { @@ -596,5 +596,5 @@ void colorVectorToValue(const Eigen::Vector3f& colorVector, float& colorValue) colorVectorToValue(tempColorVector, colorValue); } -} // namespace grid_map +} // namespace robot_grid_map diff --git a/src/Polygon.cpp b/src/Polygon.cpp index 6328b42..aec94ce 100644 --- a/src/Polygon.cpp +++ b/src/Polygon.cpp @@ -14,7 +14,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { Polygon::Polygon() : timestamp_(0) @@ -268,7 +268,7 @@ Polygon Polygon::convexHullOfTwoCircles(const Position center1, centerToVertex.normalize(); centerToVertex *= radius; - grid_map::Polygon polygon; + robot_grid_map::Polygon polygon; for (int j = 0; j < ceil(nVertices / 2.0); j++) { double theta = M_PI_2 + j * M_PI / (ceil(nVertices / 2.0) - 1); Eigen::Rotation2D rot2d(theta); @@ -349,4 +349,4 @@ double Polygon::vectorsMakeClockwiseTurn(const Eigen::Vector2d &pointOrigin, return computeCrossProduct2D(pointA - pointOrigin, pointB - pointOrigin) <= 0; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/SubmapGeometry.cpp b/src/SubmapGeometry.cpp index a1d5bcc..2fb94d6 100644 --- a/src/SubmapGeometry.cpp +++ b/src/SubmapGeometry.cpp @@ -9,7 +9,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { SubmapGeometry::SubmapGeometry(const GridMap& gridMap, const Position& position, const Length& length, bool& isSuccess) @@ -56,4 +56,4 @@ const Index& SubmapGeometry::getStartIndex() const return startIndex_; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/CircleIterator.cpp b/src/iterators/CircleIterator.cpp index e7d14ef..edc0bb5 100644 --- a/src/iterators/CircleIterator.cpp +++ b/src/iterators/CircleIterator.cpp @@ -11,7 +11,7 @@ #include #include "robot_grid_map_core/GridMapMath.hpp" -namespace grid_map { +namespace robot_grid_map { CircleIterator::CircleIterator(const GridMap& gridMap, const Position& center, const double radius) : center_(center), @@ -84,5 +84,5 @@ void CircleIterator::findSubmapParameters(const Position& center, const double r bufferSize = getSubmapSizeFromCornerIndices(startIndex, endIndex, bufferSize_, bufferStartIndex_); } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/EllipseIterator.cpp b/src/iterators/EllipseIterator.cpp index 677564b..437ecca 100644 --- a/src/iterators/EllipseIterator.cpp +++ b/src/iterators/EllipseIterator.cpp @@ -12,7 +12,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { EllipseIterator::EllipseIterator(const GridMap& gridMap, const Position& center, const Length& length, const double rotation) : center_(center) @@ -96,5 +96,5 @@ void EllipseIterator::findSubmapParameters(const Position& center, const Length& bufferSize = getSubmapSizeFromCornerIndices(startIndex, endIndex, bufferSize_, bufferStartIndex_); } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/GridMapIterator.cpp b/src/iterators/GridMapIterator.cpp index 47ae20c..c1926bf 100644 --- a/src/iterators/GridMapIterator.cpp +++ b/src/iterators/GridMapIterator.cpp @@ -9,9 +9,9 @@ #include "robot_grid_map_core/iterators/GridMapIterator.hpp" #include "robot_grid_map_core/GridMapMath.hpp" -namespace grid_map { +namespace robot_grid_map { -GridMapIterator::GridMapIterator(const grid_map::GridMap& gridMap) +GridMapIterator::GridMapIterator(const robot_grid_map::GridMap& gridMap) { size_ = gridMap.getSize(); startIndex_ = gridMap.getStartIndex(); @@ -72,4 +72,4 @@ bool GridMapIterator::isPastEnd() const return isPastEnd_; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/LineIterator.cpp b/src/iterators/LineIterator.cpp index 8484ce4..15ad285 100644 --- a/src/iterators/LineIterator.cpp +++ b/src/iterators/LineIterator.cpp @@ -9,9 +9,9 @@ #include "robot_grid_map_core/iterators/LineIterator.hpp" #include "robot_grid_map_core/GridMapMath.hpp" -namespace grid_map { +namespace robot_grid_map { -LineIterator::LineIterator(const grid_map::GridMap& gridMap, const Position& start, +LineIterator::LineIterator(const robot_grid_map::GridMap& gridMap, const Position& start, const Position& end) { Index startIndex; @@ -25,7 +25,7 @@ LineIterator::LineIterator(const grid_map::GridMap& gridMap, const Position& sta } } -LineIterator::LineIterator(const grid_map::GridMap& gridMap, const Index& start, const Index& end) +LineIterator::LineIterator(const robot_grid_map::GridMap& gridMap, const Index& start, const Index& end) { initialize(gridMap, start, end); } @@ -59,7 +59,7 @@ bool LineIterator::isPastEnd() const return iCell_ >= nCells_; } -bool LineIterator::initialize(const grid_map::GridMap& gridMap, const Index& start, const Index& end) +bool LineIterator::initialize(const robot_grid_map::GridMap& gridMap, const Index& start, const Index& end) { start_ = start; end_ = end; @@ -72,7 +72,7 @@ bool LineIterator::initialize(const grid_map::GridMap& gridMap, const Index& sta return true; } -bool LineIterator::getIndexLimitedToMapRange(const grid_map::GridMap& gridMap, +bool LineIterator::getIndexLimitedToMapRange(const robot_grid_map::GridMap& gridMap, const Position& start, const Position& end, Index& index) { @@ -135,4 +135,4 @@ void LineIterator::initializeIterationParameters() } } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/PolygonIterator.cpp b/src/iterators/PolygonIterator.cpp index a2d07b4..01d06c3 100644 --- a/src/iterators/PolygonIterator.cpp +++ b/src/iterators/PolygonIterator.cpp @@ -11,9 +11,9 @@ #include "robot_grid_map_core/iterators/PolygonIterator.hpp" #include "robot_grid_map_core/GridMapMath.hpp" -namespace grid_map { +namespace robot_grid_map { -PolygonIterator::PolygonIterator(const grid_map::GridMap& gridMap, const grid_map::Polygon& polygon) +PolygonIterator::PolygonIterator(const robot_grid_map::GridMap& gridMap, const robot_grid_map::Polygon& polygon) : polygon_(polygon) { mapLength_ = gridMap.getLength(); @@ -68,7 +68,7 @@ bool PolygonIterator::isInside() const return polygon_.isInside(position); } -void PolygonIterator::findSubmapParameters(const grid_map::Polygon& /*polygon*/, Index& startIndex, Size& bufferSize) const +void PolygonIterator::findSubmapParameters(const robot_grid_map::Polygon& /*polygon*/, Index& startIndex, Size& bufferSize) const { Position topLeft = polygon_.getVertices()[0]; Position bottomRight = topLeft; @@ -84,5 +84,5 @@ void PolygonIterator::findSubmapParameters(const grid_map::Polygon& /*polygon*/, bufferSize = getSubmapSizeFromCornerIndices(startIndex, endIndex, bufferSize_, bufferStartIndex_); } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/SlidingWindowIterator.cpp b/src/iterators/SlidingWindowIterator.cpp index d6be4f1..e5cd27f 100644 --- a/src/iterators/SlidingWindowIterator.cpp +++ b/src/iterators/SlidingWindowIterator.cpp @@ -11,7 +11,7 @@ #include -namespace grid_map { +namespace robot_grid_map { SlidingWindowIterator::SlidingWindowIterator(const GridMap& gridMap, const std::string& layer, const EdgeHandling& edgeHandling, const size_t windowSize) @@ -114,4 +114,4 @@ bool SlidingWindowIterator::dataInsideMap() const return checkIfIndexInRange(topLeftIndex, size_) && checkIfIndexInRange(bottomRightIndex, size_); } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/SpiralIterator.cpp b/src/iterators/SpiralIterator.cpp index 4844bd6..244dc19 100644 --- a/src/iterators/SpiralIterator.cpp +++ b/src/iterators/SpiralIterator.cpp @@ -13,9 +13,9 @@ #include -namespace grid_map { +namespace robot_grid_map { -SpiralIterator::SpiralIterator(const grid_map::GridMap& gridMap, Eigen::Vector2d center, +SpiralIterator::SpiralIterator(const robot_grid_map::GridMap& gridMap, Eigen::Vector2d center, const double radius) : center_(std::move(center)), radius_(radius), @@ -106,5 +106,5 @@ double SpiralIterator::getCurrentRadius() const return radius.matrix().norm() * resolution_; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/src/iterators/SubmapIterator.cpp b/src/iterators/SubmapIterator.cpp index 0a878cc..fd3ddcd 100644 --- a/src/iterators/SubmapIterator.cpp +++ b/src/iterators/SubmapIterator.cpp @@ -11,21 +11,21 @@ -namespace grid_map { +namespace robot_grid_map { -SubmapIterator::SubmapIterator(const grid_map::SubmapGeometry& submap) +SubmapIterator::SubmapIterator(const robot_grid_map::SubmapGeometry& submap) : SubmapIterator(submap.getGridMap(), submap.getStartIndex(), submap.getSize()) { } -SubmapIterator::SubmapIterator(const grid_map::GridMap& gridMap, - const grid_map::BufferRegion& bufferRegion) +SubmapIterator::SubmapIterator(const robot_grid_map::GridMap& gridMap, + const robot_grid_map::BufferRegion& bufferRegion) : SubmapIterator(gridMap, bufferRegion.getStartIndex(), bufferRegion.getSize()) { } -SubmapIterator::SubmapIterator(const grid_map::GridMap& gridMap, const Index& submapStartIndex, +SubmapIterator::SubmapIterator(const robot_grid_map::GridMap& gridMap, const Index& submapStartIndex, const Size& submapSize) { size_ = gridMap.getSize(); @@ -80,5 +80,5 @@ const Size& SubmapIterator::getSubmapSize() const return submapSize_; } -} /* namespace grid_map */ +} /* namespace robot_grid_map */ diff --git a/test/CubicConvolutionInterpolationTest.cpp b/test/CubicConvolutionInterpolationTest.cpp index 4e884f2..e35ff4e 100644 --- a/test/CubicConvolutionInterpolationTest.cpp +++ b/test/CubicConvolutionInterpolationTest.cpp @@ -13,7 +13,7 @@ // gtest #include -namespace gm = grid_map; +namespace gm = robot_grid_map; namespace gmt = grid_map_test; TEST(CubicConvolutionInterpolation, FlatWorld) diff --git a/test/CubicInterpolationTest.cpp b/test/CubicInterpolationTest.cpp index eb4a9cf..c28f6ef 100644 --- a/test/CubicInterpolationTest.cpp +++ b/test/CubicInterpolationTest.cpp @@ -13,7 +13,7 @@ // gtest #include -namespace gm = grid_map; +namespace gm = robot_grid_map; namespace gmt = grid_map_test; TEST(CubicInterpolation, FlatWorld) diff --git a/test/EigenPluginsTest.cpp b/test/EigenPluginsTest.cpp index cdbd1e8..9a1710a 100644 --- a/test/EigenPluginsTest.cpp +++ b/test/EigenPluginsTest.cpp @@ -106,7 +106,7 @@ TEST(EigenMatrixBaseAddons, clamp) Eigen::Matrix3f matrix; matrix << vector.segment(0, 3), vector.segment(3, 3), vector.segment(6, 3); matrix(1, 1) = NAN; - matrix = matrix.unaryExpr(grid_map::Clamp(2.1, 7.0)); + matrix = matrix.unaryExpr(robot_grid_map::Clamp(2.1, 7.0)); EXPECT_NEAR(2.1, matrix(0, 0), 1e-7); EXPECT_NEAR(2.1, matrix(1, 0), 1e-7); EXPECT_NEAR(3.0, matrix(2, 0), 1e-7); diff --git a/test/EllipseIteratorTest.cpp b/test/EllipseIteratorTest.cpp index f77fee0..b62ec11 100644 --- a/test/EllipseIteratorTest.cpp +++ b/test/EllipseIteratorTest.cpp @@ -15,10 +15,10 @@ // Vector #include -using grid_map::GridMap; -using grid_map::Length; -using grid_map::Position; -using grid_map::EllipseIterator; +using robot_grid_map::GridMap; +using robot_grid_map::Length; +using robot_grid_map::Position; +using robot_grid_map::EllipseIterator; TEST(EllipseIterator, OneCellWideEllipse) { diff --git a/test/GridMapIteratorTest.cpp b/test/GridMapIteratorTest.cpp index 33c1ac4..643e0c6 100644 --- a/test/GridMapIteratorTest.cpp +++ b/test/GridMapIteratorTest.cpp @@ -15,10 +15,10 @@ // Vector #include -using grid_map::GridMap; -using grid_map::Length; -using grid_map::Position; -using grid_map::GridMapIterator; +using robot_grid_map::GridMap; +using robot_grid_map::Length; +using robot_grid_map::Position; +using robot_grid_map::GridMapIterator; TEST(GridMapIterator, Simple) { diff --git a/test/GridMapMathTest.cpp b/test/GridMapMathTest.cpp index 1382f76..0c792bd 100644 --- a/test/GridMapMathTest.cpp +++ b/test/GridMapMathTest.cpp @@ -19,7 +19,7 @@ using std::numeric_limits; -namespace grid_map{ +namespace robot_grid_map{ TEST(PositionFromIndex, Simple) { @@ -1036,4 +1036,4 @@ TEST(getIndexFromLinearIndex, Simple) EXPECT_TRUE((Index(7, 4) == getIndexFromLinearIndex(39, Size(8, 5), false)).all()); } -} // namespace grid_map \ No newline at end of file +} // namespace robot_grid_map \ No newline at end of file diff --git a/test/GridMapTest.cpp b/test/GridMapTest.cpp index 64b15f8..3fe6a77 100644 --- a/test/GridMapTest.cpp +++ b/test/GridMapTest.cpp @@ -11,7 +11,7 @@ // gtest #include -namespace grid_map { +namespace robot_grid_map { TEST(GridMap, CopyConstructor) { GridMap map({"layer_a", "layer_b"}); @@ -493,4 +493,4 @@ TEST(ValueAtPosition, LinearInterpolated) EXPECT_NEAR(2.1963200, value, 0.0000001); } -} // namespace grid_map \ No newline at end of file +} // namespace robot_grid_map \ No newline at end of file diff --git a/test/LineIteratorTest.cpp b/test/LineIteratorTest.cpp index 2086fc1..09df86f 100644 --- a/test/LineIteratorTest.cpp +++ b/test/LineIteratorTest.cpp @@ -12,7 +12,7 @@ // gtest #include -namespace grid_map { +namespace robot_grid_map { TEST(LineIterator, StartOutsideMap) { GridMap map( { "types" }); @@ -175,4 +175,4 @@ TEST(LineIterator, StartAndEndOutsideMovedMap) EXPECT_TRUE(iterator.isPastEnd()); } -} // namespace grid_map \ No newline at end of file +} // namespace robot_grid_map \ No newline at end of file diff --git a/test/PolygonIteratorTest.cpp b/test/PolygonIteratorTest.cpp index ef73ae6..7eb22ed 100644 --- a/test/PolygonIteratorTest.cpp +++ b/test/PolygonIteratorTest.cpp @@ -16,11 +16,11 @@ // Vector #include -using grid_map::GridMap; -using grid_map::Length; -using grid_map::Polygon; -using grid_map::PolygonIterator; -using grid_map::Position; +using robot_grid_map::GridMap; +using robot_grid_map::Length; +using robot_grid_map::Polygon; +using robot_grid_map::PolygonIterator; +using robot_grid_map::Position; TEST(PolygonIterator, FullCover) { std::vector types; diff --git a/test/PolygonTest.cpp b/test/PolygonTest.cpp index 0974a05..30d5b61 100644 --- a/test/PolygonTest.cpp +++ b/test/PolygonTest.cpp @@ -18,9 +18,9 @@ using Eigen::MatrixXd; using Eigen::Vector2d; using Eigen::VectorXd; -using grid_map::Length; -using grid_map::Polygon; -using grid_map::Position; +using robot_grid_map::Length; +using robot_grid_map::Polygon; +using robot_grid_map::Position; TEST(Polygon, getCentroidTriangle) { diff --git a/test/SlidingWindowIteratorTest.cpp b/test/SlidingWindowIteratorTest.cpp index 902144a..5697ec1 100644 --- a/test/SlidingWindowIteratorTest.cpp +++ b/test/SlidingWindowIteratorTest.cpp @@ -12,11 +12,11 @@ #include #include -using grid_map::GridMap; -using grid_map::Index; -using grid_map::Length; -using grid_map::Position; -using grid_map::SlidingWindowIterator; +using robot_grid_map::GridMap; +using robot_grid_map::Index; +using robot_grid_map::Length; +using robot_grid_map::Position; +using robot_grid_map::SlidingWindowIterator; TEST(SlidingWindowIterator, WindowSize3Cutoff) { diff --git a/test/SpiralIteratorTest.cpp b/test/SpiralIteratorTest.cpp index f206dfc..90697bb 100644 --- a/test/SpiralIteratorTest.cpp +++ b/test/SpiralIteratorTest.cpp @@ -15,10 +15,10 @@ // Vector #include -using grid_map::GridMap; -using grid_map::Length; -using grid_map::Position; -using grid_map::SpiralIterator; +using robot_grid_map::GridMap; +using robot_grid_map::Length; +using robot_grid_map::Position; +using robot_grid_map::SpiralIterator; TEST(SpiralIterator, CenterOutOfMap) { diff --git a/test/SubmapIteratorTest.cpp b/test/SubmapIteratorTest.cpp index 3c838ea..8424768 100644 --- a/test/SubmapIteratorTest.cpp +++ b/test/SubmapIteratorTest.cpp @@ -21,7 +21,7 @@ using std::vector; using std::string; -namespace grid_map{ +namespace robot_grid_map{ TEST(SubmapIterator, Simple) { Eigen::Array2i submapTopLeftIndex(3, 1); @@ -191,8 +191,8 @@ TEST(SubmapIterator, CircularBuffer) { * +----------------------------+ */ TEST(SubmapIterator, InterleavedExecutionWithMove) { - grid_map::Index submapTopLeftIndex(3, 1); - grid_map::Size submapSize(2, 2); + robot_grid_map::Index submapTopLeftIndex(3, 1); + robot_grid_map::Size submapSize(2, 2); GridMap map({"layer"}); @@ -264,4 +264,4 @@ TEST(SubmapIterator, InterleavedExecutionWithMove) { // }); } -} // namespace grid_map +} // namespace robot_grid_map diff --git a/test/test_helpers.cpp b/test/test_helpers.cpp index 96d78fa..168a2bf 100644 --- a/test/test_helpers.cpp +++ b/test/test_helpers.cpp @@ -18,7 +18,7 @@ namespace grid_map_test { std::mt19937 rndGenerator; -AnalyticalFunctions createFlatWorld(grid_map::GridMap *map) +AnalyticalFunctions createFlatWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -33,7 +33,7 @@ AnalyticalFunctions createFlatWorld(grid_map::GridMap *map) } -AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map) +AnalyticalFunctions createRationalFunctionWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -54,7 +54,7 @@ AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map) } -AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map) +AnalyticalFunctions createSecondOrderPolyWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -69,7 +69,7 @@ AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map) } -AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map) +AnalyticalFunctions createSaddleWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -83,7 +83,7 @@ AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map) } -AnalyticalFunctions createSineWorld(grid_map::GridMap *map) +AnalyticalFunctions createSineWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -104,7 +104,7 @@ AnalyticalFunctions createSineWorld(grid_map::GridMap *map) } -AnalyticalFunctions createTanhWorld(grid_map::GridMap *map) +AnalyticalFunctions createTanhWorld(robot_grid_map::GridMap *map) { AnalyticalFunctions func; @@ -121,7 +121,7 @@ AnalyticalFunctions createTanhWorld(grid_map::GridMap *map) return func; } -AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map) +AnalyticalFunctions createGaussianWorld(robot_grid_map::GridMap *map) { struct Gaussian @@ -166,13 +166,13 @@ AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map) return func; } -void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions) +void fillGridMap(robot_grid_map::GridMap *map, const AnalyticalFunctions &functions) { - using grid_map::DataType; - using grid_map::GridMapIterator; - using grid_map::Index; - using grid_map::Matrix; - using grid_map::Position; + using robot_grid_map::DataType; + using robot_grid_map::GridMapIterator; + using robot_grid_map::Index; + using robot_grid_map::Matrix; + using robot_grid_map::Position; Matrix& data = (*map)[testLayer]; for (GridMapIterator iterator(*map); !iterator.isPastEnd(); ++iterator) { @@ -183,10 +183,10 @@ void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions) } } -grid_map::GridMap createMap(const grid_map::Length &length, double resolution, - const grid_map::Position &pos) +robot_grid_map::GridMap createMap(const robot_grid_map::Length &length, double resolution, + const robot_grid_map::Position &pos) { - grid_map::GridMap map; + robot_grid_map::GridMap map; map.setGeometry(length, resolution, pos); map.add(testLayer, 0.0); @@ -195,7 +195,7 @@ grid_map::GridMap createMap(const grid_map::Length &length, double resolution, return map; } -std::vector uniformlyDitributedPointsWithinMap(const grid_map::GridMap &map, +std::vector uniformlyDitributedPointsWithinMap(const robot_grid_map::GridMap &map, unsigned int numPoints) { @@ -215,11 +215,11 @@ std::vector uniformlyDitributedPointsWithinMap(const grid_map::GridMap return points; } -void verifyValuesAtQueryPointsAreClose(const grid_map::GridMap &map, const AnalyticalFunctions &trueValues, +void verifyValuesAtQueryPointsAreClose(const robot_grid_map::GridMap &map, const AnalyticalFunctions &trueValues, const std::vector &queryPoints, - grid_map::InterpolationMethods interpolationMethod){ + robot_grid_map::InterpolationMethods interpolationMethod){ for (const auto point : queryPoints) { - const grid_map::Position p(point.x_, point.y_); + const robot_grid_map::Position p(point.x_, point.y_); const double trueValue = trueValues.f_(p.x(), p.y()); const double interpolatedValue = map.atPosition( grid_map_test::testLayer, p, interpolationMethod); diff --git a/test/test_helpers.hpp b/test/test_helpers.hpp index 075963c..358e18a 100644 --- a/test/test_helpers.hpp +++ b/test/test_helpers.hpp @@ -12,7 +12,7 @@ #include #include -namespace grid_map { +namespace robot_grid_map { class GridMap; } @@ -48,8 +48,8 @@ extern std::mt19937 rndGenerator; // Maximal tolerance when comparing doubles in tests. const double maxAbsErrorValue = 1e-3; -grid_map::GridMap createMap(const grid_map::Length &length, double resolution, - const grid_map::Position &pos); +robot_grid_map::GridMap createMap(const robot_grid_map::Length &length, double resolution, + const robot_grid_map::Position &pos); /* * Collections of methods that modify the grid map. @@ -64,24 +64,24 @@ grid_map::GridMap createMap(const grid_map::Length &length, double resolution, * function. * Each method returns a structure containing the analytical function. */ -AnalyticalFunctions createFlatWorld(grid_map::GridMap *map); -AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map); -AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map); -AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map); -AnalyticalFunctions createSineWorld(grid_map::GridMap *map); -AnalyticalFunctions createTanhWorld(grid_map::GridMap *map); -AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map); +AnalyticalFunctions createFlatWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createRationalFunctionWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createSaddleWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createSecondOrderPolyWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createSineWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createTanhWorld(robot_grid_map::GridMap *map); +AnalyticalFunctions createGaussianWorld(robot_grid_map::GridMap *map); /* * Iterates over the grid map and fill it with values. * values are calculated by evaluating analytical function. */ -void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions); +void fillGridMap(robot_grid_map::GridMap *map, const AnalyticalFunctions &functions); /* * Create numPoints uniformly distributed random points that lie within the grid map. */ -std::vector uniformlyDitributedPointsWithinMap(const grid_map::GridMap &map, +std::vector uniformlyDitributedPointsWithinMap(const robot_grid_map::GridMap &map, unsigned int numPoints); /* @@ -89,8 +89,8 @@ std::vector uniformlyDitributedPointsWithinMap(const grid_map::GridMap * is close to the ground truth which is contained in Analytical functions structure. * Called inside the tests. Calls macros from gtest. */ -void verifyValuesAtQueryPointsAreClose(const grid_map::GridMap &map, const AnalyticalFunctions &trueValues, +void verifyValuesAtQueryPointsAreClose(const robot_grid_map::GridMap &map, const AnalyticalFunctions &trueValues, const std::vector &queryPoints, - grid_map::InterpolationMethods interpolationMethod); + robot_grid_map::InterpolationMethods interpolationMethod); } // namespace grid_map_test