Merge branch 'fix/visibility_cleanup' into 'master'

[elevation_mapping] Fix ray-tracing in elevation map on the edge of sensor window Closes #UNKNOWN GitOrigin-RevId: 6919a0b4e384d4b90f0fbf65e537869b8d2083f7
ANYbotics · Dec 3, 2024 · ee3308b · ee3308b
1 parent c313843
commit ee3308b
Showing 1 changed file with 2 additions and 14 deletions.
diff --git a/grid_map_core/src/GridMap.cpp b/grid_map_core/src/GridMap.cpp
@@ -854,26 +854,14 @@ void GridMap::clearAll()
 
 void GridMap::clearRows(unsigned int index, unsigned int nRows)
 {
-  std::vector<std::string> layersToClear;
-  if (basicLayers_.size() > 0) {
-    layersToClear = basicLayers_;
-  } else {
-    layersToClear = layers_;
-  }
-  for (auto & layer : layersToClear) {
+  for (auto & layer : layers_) {
     data_.at(layer).block(index, 0, nRows, getSize()(1)).setConstant(NAN);
   }
 }
 
 void GridMap::clearCols(unsigned int index, unsigned int nCols)
 {
-  std::vector<std::string> layersToClear;
-  if (basicLayers_.size() > 0) {
-    layersToClear = basicLayers_;
-  } else {
-    layersToClear = layers_;
-  }
-  for (auto & layer : layersToClear) {
+  for (auto & layer : layers_) {
     data_.at(layer).block(0, index, getSize()(0), nCols).setConstant(NAN);
   }
 }