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58 const double x,
const double y,
const double z,
59 const TPointInsertParams&
params = TPointInsertParams()) = 0;
67 const size_t cx,
const size_t cy,
double& z_out)
const = 0;
71 const double x,
const double y,
double& z_out)
const = 0;
virtual ~CHeightGridMap2D_Base()
virtual size_t dem_get_size_x() const =0
virtual void dem_update_map()=0
Ensure that all observations are reflected in the map estimate.
Extra params for insertIndividualPoint()
Virtual base class for Digital Elevation Model (DEM) maps.
Standard object for storing any 3D lightweight object.
bool update_map_after_insertion
(default: true) run any required operation to ensure the map reflects the changes caused by this poin...
virtual double dem_get_resolution() const =0
virtual size_t dem_get_size_y() const =0
virtual bool insertIndividualPoint(const double x, const double y, const double z, const TPointInsertParams ¶ms=TPointInsertParams())=0
Update the DEM with one new point.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::vision::TStereoCalibParams params
bool getMinMaxHeight(float &z_min, float &z_max) const
Computes the minimum and maximum height in the grid.
double pt_z_std
(Default:0.0) If !=0, use this value as the uncertainty (standard deviation) for the point "z" coordi...
virtual bool dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const =0
Get cell 'z' by (cx,cy) cell indices.
Declares a class that represents any robot's observation.
3D line, represented by a base point and a director vector.
bool dem_internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
Internal method called by internal_insertObservation()
virtual bool dem_get_z(const double x, const double y, double &z_out) const =0
Get cell 'z' (x,y) by metric coordinates.
bool intersectLine3D(const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
Gets the intersection between a 3D line and a Height Grid map (taking into account the different heig...
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