| 493 | } |
| 494 | |
| 495 | void MultiMapManager::adrToIndex(const uint32_t& adr, Eigen::Vector3i& idx) |
| 496 | { |
| 497 | // x * mp_->map_voxel_num_(1) * mp_->map_voxel_num_(2) + y * mp_->map_voxel_num_(2) + z |
| 498 | uint32_t tmp_adr = adr; |
| 499 | const int a = map_->mp_->map_voxel_num_[1] * map_->mp_->map_voxel_num_[2]; |
| 500 | const int b = map_->mp_->map_voxel_num_[2]; |
| 501 | |
| 502 | idx[0] = tmp_adr / a; |
| 503 | tmp_adr = tmp_adr % a; |
| 504 | idx[1] = tmp_adr / b; |
| 505 | idx[2] = tmp_adr % b; |
| 506 | } |
| 507 | |
| 508 | void MultiMapManager::insertChunkToMap(const MapChunk& chunk, const int& drone_id) |
| 509 | { |
nothing calls this directly
no outgoing calls
no test coverage detected