OccupancyGridHelper.h

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#pragma once
 
#include <Eigen/Core>
 
namespace armarx::armem::vision
{
    struct OccupancyGrid;
}
 
namespace armarx
{
    using armarx::armem::vision::OccupancyGrid;
 
    namespace detail
    {
        struct OccupancyGridHelperParams
        {
            float freespaceThreshold = 0.45F;
            float occupiedThreshold = 0.55F;
        };
    } // namespace detail
 
    class OccupancyGridHelper
    {
    public:
        using Params = detail::OccupancyGridHelperParams;
 
        OccupancyGridHelper(const OccupancyGrid& occupancyGrid, const Params& params = Params());
 
        using BinaryArray = Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic>;
 
        BinaryArray knownCells() const;
        BinaryArray freespace() const;
        BinaryArray obstacles() const;
 
    private:
        const OccupancyGrid& occupancyGrid;
        const Params params;
    };
} // namespace armarx