| 438 | } |
| 439 | |
| 440 | void HGrid::getActiveGrids(vector<int>& grid_ids) { |
| 441 | grid_ids.clear(); |
| 442 | const int grid_num1 = grid1_->grid_data_.size(); |
| 443 | for (int i = 0; i < grid_num1; ++i) { |
| 444 | if (grid1_->grid_data_[i].active_ && grid1_->grid_data_[i].is_cur_relevant_) { |
| 445 | grid_ids.push_back(i); |
| 446 | } |
| 447 | } |
| 448 | for (int i = 0; i < grid2_->grid_data_.size(); ++i) { |
| 449 | if (grid2_->grid_data_[i].active_ && grid2_->grid_data_[i].is_cur_relevant_) { |
| 450 | grid_ids.push_back(i + grid_num1); |
| 451 | } |
| 452 | } |
| 453 | } |
| 454 | |
| 455 | bool HGrid::getNextGrid(const vector<int>& grid_ids, Eigen::Vector3d& grid_pos, double& grid_yaw) { |
| 456 | // Current level 1 grid id |
no test coverage detected