Method atPosition

grid_map_core/src/GridMap.cpp:168–211

}

float GridMap::atPosition(const std::string& layer, const Position& position, InterpolationMethods interpolationMethod) const {

  bool skipNextSwitchCase = false;
  switch (interpolationMethod) {
    case InterpolationMethods::INTER_CUBIC_CONVOLUTION: {
      float value;
      if (atPositionBicubicConvolutionInterpolated(layer, position, value)) {
        return value;
      } else {
        interpolationMethod = InterpolationMethods::INTER_LINEAR;
        skipNextSwitchCase = true;
      }
    }
    case InterpolationMethods::INTER_CUBIC: {
      if (!skipNextSwitchCase) {
        float value;
        if (atPositionBicubicInterpolated(layer, position, value)) {
          return value;
        } else {
          interpolationMethod = InterpolationMethods::INTER_LINEAR;
        }
      }
    }
    case InterpolationMethods::INTER_LINEAR: {
      float value;
      if (atPositionLinearInterpolated(layer, position, value))
        return value;
      else
        interpolationMethod = InterpolationMethods::INTER_NEAREST;
    }
    case InterpolationMethods::INTER_NEAREST: {
      Index index;
      if (getIndex(position, index)) {
        return at(layer, index);
      } else
        throw std::out_of_range("GridMap::atPosition(...) : Position is out of range.");
      break;
    }
    default:
      throw std::runtime_error(
          "GridMap::atPosition(...) : Specified "
          "interpolation method not implemented.");
  }
}

float& GridMap::at(const std::string& layer, const Index& index) {
  try {