| 162 | } |
| 163 | |
| 164 | void AmclMap::BuildDistanceMap(double scale, double max_dist) { |
| 165 | cached_distance_map_.reset(); |
| 166 | if (cached_distance_map_ == nullptr || cached_distance_map_->scale_ != scale || cached_distance_map_->max_dist_) { |
| 167 | if (cached_distance_map_ != nullptr) { |
| 168 | cached_distance_map_.reset(); |
| 169 | } |
| 170 | cached_distance_map_ = std::make_unique<CachedDistanceMap>(scale, max_dist); |
| 171 | } |
| 172 | } |
| 173 | |
| 174 | void AmclMap::UpdateCSpace(double max_occ_dist) { |
| 175 |
nothing calls this directly
no outgoing calls
no test coverage detected