void OccupancyGrid::AddVert(vector<Point3f> &vv, Matrix44d &Tr, int id) { Point3f tmp; Matrix44f Trf; Trf.Import(Tr); vector<Point3f>::iterator vi; for(vi=vv.begin();vi!=vv.end();++vi) G.Grid( Trf*(*vi) ).Set(id); VM[id].coverage=0; VM[id].area=0; }