Ejemplos de occ_map_pixel_map_t_publish en C++ (Cpp)

Ejemplo n.º 1

Archivo: map_measurement_function.cpp Proyecto: openhumanoids/pronto

void MapMeasurementFunction::publishInformationMaps(lcm_t * lcm)
{
  occ_map_pixel_map_t_publish(lcm, "GPF_MIN_INFO_CHANNEL", xy_min_information->get_pixel_map_t(0));
  occ_map_pixel_map_t_publish(lcm, "GPF_MAX_INFO_CHANNEL", xy_max_information->get_pixel_map_t(0));
  double zz[2] = { 0, 0 };
  occ_map_pixel_map_t_publish(lcm, "GPF_00_INFO_CHANNEL",
      phi_psi_xy_information_map->readValue(zz)->get_pixel_map_t(0));
}

Ejemplo n.º 2

Archivo: PixelMapTest.cpp Proyecto: rxdu/occ-map

int main(int argc, char ** argv){
  double xyz0[2] = {-20, -20};
  double xyz1[2] = {20, 20};
  double mpp = .2;
  occ_map::FloatPixelMap fvm(xyz0,xyz1,mpp,0);
  
  double xy[2];
  for (xy[1] = -5; xy[1] < 10; xy[1] += 0.2) {
      for (xy[0] = -5; xy[0] < 5; xy[0] += 0.2) {
          fvm.writeValue (xy, 0.99);
      }
  }

  double xy0[2] = {0, 0};
  double xyR[2] = {0, 5};
  for (double x = -5; x < 5; x += 0.5) {
      xyR[0] = x;
      fvm.rayTrace (xy0, xyR, 1, 0.3);
  }

#ifndef NO_LCM
  const occ_map_pixel_map_t *msg = fvm.get_pixel_map_t (0);
  lcm_t * lcm = lcm_create (NULL);
  occ_map_pixel_map_t_publish (lcm, "PIXEL_MAP", msg);
#endif
}