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feat(map_height_fitter): fitting by vector_map #6340

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4eb1bba
Added fit_target
SakodaShintaro Feb 6, 2024
8ec248e
Merge remote-tracking branch 'origin' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 6, 2024
56400c0
Fixed group
SakodaShintaro Feb 6, 2024
0cc5cae
Fixed to run
SakodaShintaro Feb 6, 2024
db575e3
Merge remote-tracking branch 'origin' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 6, 2024
c7eb386
style(pre-commit): autofix
pre-commit-ci[bot] Feb 7, 2024
ee19f39
Fixed to work by pointcloud_map
SakodaShintaro Feb 7, 2024
0b6cb3c
Fixed comments
SakodaShintaro Feb 7, 2024
f6cdffd
Added a comment
SakodaShintaro Feb 7, 2024
a6b251a
Fixed a comment
SakodaShintaro Feb 7, 2024
d14e60b
Fixed to use arg
SakodaShintaro Feb 7, 2024
2cb8c75
Added info log
SakodaShintaro Feb 7, 2024
782a99e
FIxed default value
SakodaShintaro Feb 7, 2024
6c78842
Merge branch 'main' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 7, 2024
f221790
Merge branch 'main' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 7, 2024
a6e6158
FIxed default values
SakodaShintaro Feb 7, 2024
a8fc4bd
Updated schema.json
SakodaShintaro Feb 7, 2024
e4f1d93
Fixed description of fit_target
SakodaShintaro Feb 7, 2024
d89c660
Merge branch 'main' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 8, 2024
d52569c
Fixed arg name
SakodaShintaro Feb 8, 2024
23e01b5
Restore const
SakodaShintaro Feb 8, 2024
21b4f3f
Fixed map_height_fitter.param.yaml
SakodaShintaro Feb 8, 2024
69ceb62
Fixed map_height_fitter.schema.json
SakodaShintaro Feb 8, 2024
7fd0b40
style(pre-commit): autofix
pre-commit-ci[bot] Feb 8, 2024
25a6a4e
Merge branch 'main' into feat/z_fitting_by_vectormap
isamu-takagi Feb 9, 2024
9a47cde
Removed an unused variable
SakodaShintaro Feb 13, 2024
461fd40
Merge branch 'main' into feat/z_fitting_by_vectormap
SakodaShintaro Feb 13, 2024
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Restore const
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
SakodaShintaro committed Feb 8, 2024

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commit 23e01b568d32634179f9a6fd01bf9776a26fe8dd
4 changes: 2 additions & 2 deletions map/map_height_fitter/src/map_height_fitter.cpp
Original file line number Diff line number Diff line change
@@ -40,7 +40,7 @@ struct MapHeightFitter::Impl
void on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
void on_vector_map(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
bool get_partial_point_cloud_map(const Point & point);
double get_ground_height(const Point & point);
double get_ground_height(const Point & point) const;
std::optional<Point> fit(const Point & position, const std::string & frame);

tf2::BufferCore tf2_buffer_;
@@ -171,7 +171,7 @@ void MapHeightFitter::Impl::on_vector_map(
map_frame_ = msg->header.frame_id;
}

double MapHeightFitter::Impl::get_ground_height(const Point & point)
double MapHeightFitter::Impl::get_ground_height(const Point & point) const
{
const auto logger = node_->get_logger();