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