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17 #ifndef NDT__NDT_MAP_PUBLISHER_HPP_
18 #define NDT__NDT_MAP_PUBLISHER_HPP_
22 #include <sensor_msgs/msg/point_cloud2.hpp>
31 namespace localization
66 const std::string & yaml_file_name,
75 const std::string & file_name,
87 const std::string & yaml_file_name,
88 const std::string & pcl_file_name,
94 #endif // NDT__NDT_MAP_PUBLISHER_HPP_
float64_t yaw
Definition: ndt_map_publisher.hpp:59
float64_t z
Definition: ndt_map_publisher.hpp:56
void NDT_PUBLIC read_from_yaml(const std::string &yaml_file_name, geodetic_pose_t *geo_pose)
Definition: ndt_map_publisher.cpp:35
float64_t pitch
Definition: ndt_map_publisher.hpp:58
float64_t x
Definition: ndt_map_publisher.hpp:54
float64_t latitude
Definition: ndt_map_publisher.hpp:41
float64_t pitch
Definition: ndt_map_publisher.hpp:45
Definition: ndt_map_publisher.hpp:39
This file defines an instance of the VoxelCloudBase interface.
void NDT_PUBLIC read_from_pcd(const std::string &file_name, sensor_msgs::msg::PointCloud2 *msg)
Definition: ndt_map_publisher.cpp:71
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
geocentric_pose_t NDT_PUBLIC load_map(const std::string &yaml_file_name, const std::string &pcl_file_name, sensor_msgs::msg::PointCloud2 &pc_out)
Read the pcd file with filename into a PointCloud2 message, transform it into an NDT representation a...
Definition: ndt_map_publisher.cpp:181
float64_t elevation
Definition: ndt_map_publisher.hpp:43
float64_t roll
Definition: ndt_map_publisher.hpp:57
float64_t y
Definition: ndt_map_publisher.hpp:55
Definition: ndt_map_publisher.hpp:52
float64_t longitude
Definition: ndt_map_publisher.hpp:42
double float64_t
Definition: types.hpp:47
float64_t roll
Definition: ndt_map_publisher.hpp:44
sensor_msgs::msg::PointCloud2 PointCloud2
Definition: filter_node_base.cpp:32
float64_t yaw
Definition: ndt_map_publisher.hpp:46