ndt_map_node.h

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/******************************************************************************
 * Copyright 2019 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.
 *****************************************************************************/
 
#pragma once
 
#include "Eigen/Core"
 
#include "modules/localization/msf/common/util/file_utility.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_node.h"
#include "modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_config.h"
#include "modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_matrix.h"
 
namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {
 
class NdtMapNode : public BaseMapNode {
 public:
  NdtMapNode();
  ~NdtMapNode();
 
  void Init(const BaseMapConfig* map_config);
  void Init(const BaseMapConfig* map_config, const MapNodeIndex& index,
            bool create_map_cells = true);
 
  inline float GetMapResolutionZ() const {
    return static_cast<const NdtMapConfig*>(map_config_)
        ->map_resolutions_z_[index_.resolution_id_];
  }
 
  Eigen::Vector3d GetCoordinate3D(unsigned int x, unsigned int y,
                                  int altitude_index) const;
 
  Eigen::Vector3d GetCoordinateCenter3D(unsigned int x, unsigned int y,
                                        int altitude_index) const;
 
  static void Reduce(NdtMapNode* map_node, const NdtMapNode& map_node_new);
 
  unsigned int num_valid_cells_;
  unsigned int num_valid_single_cells_;
};
 
}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo