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//=================================================================================================
// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of the Simulation, Systems Optimization and Robotics
// group, TU Darmstadt nor the names of its contributors may be used to
// endorse or promote products derived from this software without
// specific prior written permission.
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================
#ifndef __GridMap_h_
#define __GridMap_h_
#include "OccGridMapBase.h"
#include "GridMapLogOdds.h"
#include "GridMapReflectanceCount.h"
#include "GridMapSimpleCount.h"
namespace hectorslam {
typedef OccGridMapBase<LogOddsCell, GridMapLogOddsFunctions> GridMap;
//typedef OccGridMapBase<SimpleCountCell, GridMapSimpleCountFunctions> GridMap;
//typedef OccGridMapBase<ReflectanceCell, GridMapReflectanceFunctions> GridMap;
}
#endif
| cs |
namespace hectorslam {
typedef OccGridMapBase<LogOddsCell, GridMapLogOddsFunctions> GridMap;
//typedef OccGridMapBase<SimpleCountCell, GridMapSimpleCountFunctions> GridMap;
//typedef OccGridMapBase<ReflectanceCell, GridMapReflectanceFunctions> GridMap;
}
OccGridMapBase Class에서 맵을 그리는 전반적인 작업이 진행 된다.
그리고 어떤 틀과 방법을 써서 진행할지 선택해준다.
typedef A B;
A라는 자료형을 B라는 별칭으로 정의하는 것이다.
namespace가 hectorslam 이므로
다른 위치에서 호출할 때,
using namespace hectorslam
혹은
hectorslam::GridMap
과 같이 사용해야 한다.
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