Geometric descriptors per NavCel (slope, roughness, step, clearance), as layers. More...

#include <limits>
#include <string>
#include "navmap_core/NavMap.hpp"

Include dependency graph for Descriptors.hpp:

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Classes
struct	DescriptorParams
	Which descriptors to compute, and over which neighbourhoods. More...

Namespaces
namespace	navmap

Functions
void	compute_descriptors (NavMap &nm, const DescriptorParams &params={})
	Compute the selected descriptors as F32 layers of `nm` (created or overwritten).

Detailed Description

Geometric descriptors per NavCel (slope, roughness, step, clearance), as layers.

They describe the surface only. Turning them into traversability or cost is a decision of the algorithm that uses them (a planner), not of the map.

Classes