add get_index_to_table func to occupancy_grid_utils

Signed-off-by: Autumn60 <[email protected]>
booars · Aug 25, 2024 · 565de82 · 565de82
1 parent c9dcf9c
commit 565de82
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/...ace/src/aichallenge_submit/booars_utils/include/booars_utils/nav/occupancy_grid_utils.hpp b/...ace/src/aichallenge_submit/booars_utils/include/booars_utils/nav/occupancy_grid_utils.hpp
@@ -69,6 +69,17 @@ tier4_autoware_utils::Point2d index_to_point(
     index_y * parameters->resolution() - parameters->width_2()};
 }
 
+std::vector<tier4_autoware_utils::Point2d> get_index_to_point_table(
+  const OccupancyGridParameters::SharedPtr parameters)
+{
+  std::vector<tier4_autoware_utils::Point2d> table;
+  table.reserve(parameters->grid_num());
+  for (int i = 0; i < parameters->grid_num(); ++i) {
+    table.push_back(index_to_point(parameters, i));
+  }
+  return table;
+}
+
 }  // namespace booars_utils::nav::occupancy_grid_utils
 
 #endif  // BOOARS_UTILS__NAV__OCCUPANCY_GRID_UTILS_HPP_