insertPointCloudRays improvement#333
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OndrejMasopust wants to merge 6 commits intoOctoMap:develfrom
OndrejMasopust:insertPointCloudRays-Improvement
Open
insertPointCloudRays improvement#333OndrejMasopust wants to merge 6 commits intoOctoMap:develfrom OndrejMasopust:insertPointCloudRays-Improvement
OndrejMasopust wants to merge 6 commits intoOctoMap:develfrom
OndrejMasopust:insertPointCloudRays-Improvement
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An option to specify if the endpoint is occupied was added. This can be used when an obstacle is farher than the range sensor measuring limit. The ray can be used to update free nodes while not updating any node as occupied. The function is now overloaded and still accpets the old version.
.h definition and doc comment edit
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I'll work further on the pull request so that it passes the build. |
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A parameter to specify whether the endpoint of a ray should be marked as occupied or not was added. This can be used when there is an obstacle farher than the range sensor measuring limit. The measurememnt can be then used to update the free cells while omitting the need to update some point as occupied.