Gets grid size (ie. number of grid cells).

Constructs a spatial hasher from an `std::array` of doubles. * \param resolution std::array of doubles containing resolution for each index of the ar

Constructs a spatial hasher from an `std::array` of doubles. * \param resolution std::array of doubles containing resolution for each index of the tu

Constructs a spatial hasher given per-coordinate resolutions. * \param x_clustering_resolution Clustering resolution for the X axis, in meters. * \

Constructs a spatial hasher given per-coordinate resolutions. * \param x_clustering_resolution Clustering resolution for the X axis, in meters. * \

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.

Convert from result to vector representation.

Convert from result to vector representation.

Convert from result to vector representation.

Convert from result to vector representation.

Convert from result to vector representation.

Computes ray trace along a given direction. * \param bearing Direction for ray tracing. * \return Full range of grid cells traced by the ray. *

Update the sensor model with a new landmark `map`.

Update the sensor model with a new landmark `map`.

Update the sensor model with a new occupancy grid map. * \param map New occupancy grid representing the static map. */

Update the sensor model with a new occupancy grid map. * This method re-computes the underlying likelihood field. * * \param grid New occupancy

Get the traits for occupancy grid value interpretation.

Decorate generate_launch_description function to resolve launch arguments early.