ndt_map

Summary

ndt_map
Version:

1.0.30
Description:

Contains the definitions of the 3D Normal Distributions Transform data structures, used for mapping, registration, etc.
Maintainers:
  • Jari Saarinen <jari DOT p DOT saarinen AT gmail DOT com>
  • Todor Stoyanov <todor DOT stoyanov AT oru DOT se>
  • Henrik Andreasson <henrik DOT andreasson AT oru DOT se>
  • Tomasz Kucner <tomasz DOT kucner AT oru DOT se>
Licenses:
  • BSD
Urls:
Authors:
  • Todor Stoyanov
  • Jari Saarinen
  • Henrik Andreasson
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

ndt_map/NDTCellMsg
Field:
  • mean_x (float64) –
  • mean_y (float64) –
  • mean_z (float64) –
  • cov_matrix[] (float64) –
  • occupancy (float64) –
  • N (int64) –

In this file we define a sinngle ndt cell message

#In this file we define a sinngle ndt cell message
float64 mean_x       #x coordinate of mean
float64 mean_y       #y coordinate of mean
float64 mean_z       #z coordinate of mean
float64[] cov_matrix #covariance matrix
float64 occupancy    #occupancy
int64 N              #point count
ndt_map/NDTMapMsg
Field:
  • header (std_msgs/Header) –
  • x_size (float64) –
  • y_size (float64) –
  • z_size (float64) –
  • x_cen (float64) –
  • y_cen (float64) –
  • z_cen (float64) –
  • x_cell_size (float64) –
  • y_cell_size (float64) –
  • z_cell_size (float64) –
  • cells[] (ndt_map/NDTCellMsg) –

In this file we define map message that will be published

#In this file we define map message that will be published
Header header          #standard header information
float64 x_size         #in meters
float64 y_size         #in meters
float64 z_size         #in meters
float64 x_cen          #cneter of the map
float64 y_cen          #cneter of the map
float64 z_cen          #cneter of the map
float64 x_cell_size    #cell size
float64 y_cell_size    #cell size
float64 z_cell_size    #cell size

NDTCellMsg[] cells     #cells