Gets cell data, if included. * \param xi Grid cell x-axis coordinate. * \param yi Grid cell y-axis coordinate. * \return Cell data if included,

Retrieves range of free grid cell indices.

Create an NDTMap3D instance from a path to a hdf5 file. See 'to_hdf5' docstring for details on the hdf5 format.

Declare arguments from param file. Currently ROS 2 argument handling is a bit broken ... If you specify a parameter file, there's no way

Gets grid height.

Returns a callable object that verifies if the KLD condition is being satisfied. * The callable object will compute the minimum number of samples base

Retrieves a mask over occupied cells in the grid.

View points in cartesian coordinates in sensor frame.

View points in polar coordinates in sensor frame. * Range values lower than min_range or greater than max_range will be discarded. * Same for NaN v

Returns a reverse iterator pointing to the back of the array.

Reserves the specified capacity. * If the specified new capacity is greater than the current capacity, new storage is allocated. * Otherwise, the m

Get the resolution of the occupancy grid discretization, in meters.

Comment text lines using the syntax associated with the file extension. :param text: Input text. :return: The modified text.

Return a new offset value to advance the current iterator.

Fills array to its maximum size with a given `value`. * Functionally equivalent to repeated push_back() operations * or push_front() operations if

Fit a normal distribution to a set of 2D or 3D points. A minimum variance in each dimension will be enforced to avoid singularities.

Force a manual update of the particles on the next iteration of the filter.

Get the height of the occupancy grid.

Computes index for given grid cell coordinates. * \param xi Grid cell x-axis coordinate. * \param yi Grid cell y-axis coordinate. */

Get the maximum range measurement.

Get the minimum range measurement.

Retrieves a mask over obstacle cells at the edge with free space in the grid.

Transform a range of odometry messages into a range of SE2 elements.

Update plots (Helper function).

Convert a 2D point cloud into a NDT map representation. Does so by clustering points in 2D cells of {cell_size} * {cell_size} meters^2 a

Returns a reverse iterator pointing past the front of the array.

Serialize the NDT map into an HDF5 format. See https://docs.hdfgroup.org/hdf5/develop/_intro_h_d_f5.html for details on the format.

Retrieves a mask over unknown cells in the grid.

Get the width of the occupancy grid.

Add a new cell with its distribution.

Make an RGBA color based on hue alone. * Assumes both saturation and value to be 1. */

Get laser scan measurement angles as a range.

Returns an iterator to the first element of the container.

Compute plane coordinates given grid cell coordinates. * \param index Grid cell index. * \param frame Plane coordinate frame. * \return Plane co

Compute plane coordinates given grid cell coordinates. * Note this is an injective function. * * \param pi Grid cell coordinates. * \return P

Returns an iterator to the last element of the container.

Fix copyright notice. Searches for a copyright notice block and replaces it with the template. If no copyright block is found, adds t

Get ROS bag perfect odometry data to be used in the tests.

Convert an OccupancyGrid's occupied cells to a 2D point cloud. Uses the center of the cell for the conversion to reduce max error.

Check if the sensor model bears a likelihood field.

Return true if the particle filter has been initialized.

Return true if the particle filter has been initialized.

Return true if the particle filter has been initialized.

Returns the current likelihood field origin transform.

Create an grid from a yaml file describing a ROS style occupancy grid.

Run the entry point of the program.