24 #ifndef __PLUGINS_LASER_FILTER_FILTERS_MAP_FILTER_H_ 25 #define __PLUGINS_LASER_FILTER_FILTERS_MAP_FILTER_H_ 27 #include <plugins/amcl/amcl_utils.h> 28 #include <plugins/amcl/map/map.h> 29 #include <aspect/logging.h> 30 #include <aspect/tf.h> 31 #include <aspect/configurable.h> 43 std::string frame_map_;
44 float cfg_occupied_thresh_;
50 std::vector<LaserDataFilter::Buffer *> &
in,
59 bool is_in_map(
int cell_x,
int cell_y);
virtual void filter()
Filter the incoming data.
Removes static laser data (laser beams near occupied map cells)
const std::string filter_name
Name of the specific filter instance.
LaserMapFilterDataFilter(const std::string filter_name, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer *> &in, fawkes::tf::Transformer *tf_listener, fawkes::Configuration *config, fawkes::Logger *logger)
Constructor.
Interface for configuration handling.
std::vector< Buffer * > in
Vector of input arrays.
unsigned int in_data_size
Number of entries in input arrays.