| 168 | } |
| 169 | |
| 170 | void MapROS::updateESDFCallback(const ros::TimerEvent& /*event*/) |
| 171 | { |
| 172 | if (!esdf_need_update_) |
| 173 | return; |
| 174 | auto t1 = ros::Time::now(); |
| 175 | |
| 176 | map_->updateESDF3d(); |
| 177 | esdf_need_update_ = false; |
| 178 | |
| 179 | auto t2 = ros::Time::now(); |
| 180 | esdf_time_ += (t2 - t1).toSec(); |
| 181 | max_esdf_time_ = max(max_esdf_time_, (t2 - t1).toSec()); |
| 182 | esdf_num_++; |
| 183 | if (show_esdf_time_) |
| 184 | ROS_WARN("ESDF t: cur: %lf, avg: %lf, max: %lf", (t2 - t1).toSec(), esdf_time_ / esdf_num_, |
| 185 | max_esdf_time_); |
| 186 | } |
| 187 | |
| 188 | void MapROS::cloudOdomCallback( |
| 189 | const sensor_msgs::PointCloud2ConstPtr& msg, const nav_msgs::OdometryConstPtr& odom) |
nothing calls this directly
no test coverage detected