| 15 | ros::Time last_cloud_time_; |
| 16 | |
| 17 | void inflatePoint(const Eigen::Vector3d& pt, int step, vector<Eigen::Vector3d>& pts) { |
| 18 | const double res = 0.1; |
| 19 | int num = 0; |
| 20 | for (int x = -step; x <= step; ++x) |
| 21 | for (int y = -step; y <= step; ++y) |
| 22 | for (int z = -step; z <= step; ++z) { |
| 23 | pts[num++] = Eigen::Vector3d(pt(0) + x * res, pt(1) + y * res, pt(2) + z * res); |
| 24 | } |
| 25 | } |
| 26 | |
| 27 | void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& msg) { |
| 28 | auto tn = ros::Time::now(); |
no outgoing calls
no test coverage detected