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10 #ifndef MRPT_COctoMap_H
11 #define MRPT_COctoMap_H
18 #include <octomap/octomap.h>
53 bool internal_insertObservation(const
mrpt::obs::CObservation *obs,const
mrpt::poses::CPose3D *robotPose)
MRPT_OVERRIDE;
virtual void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
virtual ~COctoMap()
Destructor.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Declares a virtual base class for all metric maps storage classes.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
COctoMap(const double resolution=0.10)
Default constructor.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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