ndt_map.cc

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/localization/msf/local_map/ndt_map/ndt_map.h"
 
namespace apollo {
namespace localization {
namespace msf {
 
NdtMap::NdtMap(NdtMapConfig* config) : BaseMap(config) {}
 
NdtMap::~NdtMap() {}
 
void NdtMap::PreloadMapArea(const Eigen::Vector3d& location,
                            const Eigen::Vector3d& trans_diff,
                            unsigned int resolution_id, unsigned int zone_id) {
  BaseMap::PreloadMapArea(location, trans_diff, resolution_id, zone_id);
}
 
bool NdtMap::LoadMapArea(const Eigen::Vector3d& seed_pt3d,
                         unsigned int resolution_id, unsigned int zone_id,
                         int filter_size_x, int filter_size_y) {
  BaseMap::LoadMapArea(seed_pt3d, resolution_id, zone_id, filter_size_x,
                       filter_size_y);
  return true;
}
 
}  // namespace msf
}  // namespace localization
}  // namespace apollo