![]() to follow the robot) without copying data in memory.īased on Eigen: Grid map data is stored as Eigen data types. This allows for non-destructive shifting of the map's position (e.g. Multi-layered: Developed for universal 2.5-dimensional grid mapping with support for any number of layers.Įfficient map re-positioning: Data storage is implemented as two-dimensional circular buffer. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.
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