36 lines
1.3 KiB
C++
36 lines
1.3 KiB
C++
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/internal/2d/tsd_value_converter.h"
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namespace cartographer {
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namespace mapping {
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TSDValueConverter::TSDValueConverter(float max_tsd, float max_weight,
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ValueConversionTables* conversion_tables)
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: max_tsd_(max_tsd),
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min_tsd_(-max_tsd),
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max_weight_(max_weight),
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tsd_resolution_(32766.f / (max_tsd_ - min_tsd_)),
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weight_resolution_(32766.f / (max_weight_ - min_weight_)),
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value_to_tsd_(
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conversion_tables->GetConversionTable(min_tsd_, min_tsd_, max_tsd_)),
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value_to_weight_(conversion_tables->GetConversionTable(
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min_weight_, min_weight_, max_weight)) {}
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} // namespace mapping
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} // namespace cartographer
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