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task: manual exclusion zones #13

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task: manual exclusion zones #13

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11 changes: 11 additions & 0 deletions cartographer/mapping/2d/map_limits.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,17 @@ class MapLimits {
common::RoundToInt((max_.x() - point.x()) / resolution_ - 0.5));
}

// Returns the "point" given the index of the cell
// inverse of GetCellIndex
Eigen::Vector2f GetPointFromCellIndex(const Eigen::Array2i& cellIndex) const {
// Index values are row major and the top left has Eigen::Array2i::Zero()
// and contains (centered_max_x, centered_max_y). We need to flip and
// rotate.
return Eigen::Vector2f(
max_.y() - resolution_ * ((float)cellIndex.x() + 0.5),
max_.x() - resolution_ * ((float)cellIndex.y() + 0.5));
}

Comment on lines +80 to +88
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The function below perform same operations. Any particular reason we need this here?

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The only difference I see is that instead of returning (x, y) in meters this function returns (y, x). Is that intended?

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makes sense

// Returns the center of the cell at 'cell_index'.
Eigen::Vector2f GetCellCenter(const Eigen::Array2i cell_index) const {
return {max_.x() - resolution() * (cell_index[1] + 0.5),
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