├── .gitignore ├── LICENSE ├── README.md ├── grid_map ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── grid_map_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── cmake │ └── grid_map_core-extras.cmake ├── doc │ ├── grid_map_conventions.pdf │ ├── grid_map_conventions.png │ ├── grid_map_layers.pdf │ ├── grid_map_layers.png │ ├── interpolationGaussWorld.gif │ ├── interpolationSineWorld.gif │ ├── iterators │ │ ├── circle_iterator.gif │ │ ├── circle_iterator_preview.gif │ │ ├── ellipse_iterator.gif │ │ ├── ellipse_iterator_preview.gif │ │ ├── grid_map_iterator.gif │ │ ├── grid_map_iterator_preview.gif │ │ ├── line_iterator.gif │ │ ├── line_iterator_preview.gif │ │ ├── polygon_iterator.gif │ │ ├── polygon_iterator_preview.gif │ │ ├── spiral_iterator.gif │ │ ├── spiral_iterator_preview.gif │ │ ├── submap_iterator.gif │ │ └── submap_iterator_preview.gif │ ├── move_method.gif │ └── setposition_method.gif ├── include │ └── grid_map_core │ │ ├── BufferRegion.hpp │ │ ├── CubicInterpolation.hpp │ │ ├── GridMap.hpp │ │ ├── GridMapMath.hpp │ │ ├── Polygon.hpp │ │ ├── SubmapGeometry.hpp │ │ ├── TypeDefs.hpp │ │ ├── eigen_plugins │ │ ├── DenseBasePlugin.hpp │ │ ├── Functors.hpp │ │ └── FunctorsPlugin.hpp │ │ ├── grid_map_core.hpp │ │ ├── gtest_eigen.hpp │ │ ├── iterators │ │ ├── CircleIterator.hpp │ │ ├── EllipseIterator.hpp │ │ ├── GridMapIterator.hpp │ │ ├── LineIterator.hpp │ │ ├── PolygonIterator.hpp │ │ ├── SlidingWindowIterator.hpp │ │ ├── SpiralIterator.hpp │ │ ├── SubmapIterator.hpp │ │ └── iterators.hpp │ │ └── utils │ │ └── testing.hpp ├── package.xml ├── src │ ├── BufferRegion.cpp │ ├── CubicInterpolation.cpp │ ├── GridMap.cpp │ ├── GridMapMath.cpp │ ├── Polygon.cpp │ ├── SubmapGeometry.cpp │ └── iterators │ │ ├── CircleIterator.cpp │ │ ├── EllipseIterator.cpp │ │ ├── GridMapIterator.cpp │ │ ├── LineIterator.cpp │ │ ├── PolygonIterator.cpp │ │ ├── SlidingWindowIterator.cpp │ │ ├── SpiralIterator.cpp │ │ └── SubmapIterator.cpp └── test │ ├── CubicConvolutionInterpolationTest.cpp │ ├── CubicInterpolationTest.cpp │ ├── EigenPluginsTest.cpp │ ├── EllipseIteratorTest.cpp │ ├── GridMapIteratorTest.cpp │ ├── GridMapMathTest.cpp │ ├── GridMapTest.cpp │ ├── LineIteratorTest.cpp │ ├── PolygonIteratorTest.cpp │ ├── PolygonTest.cpp │ ├── SlidingWindowIteratorTest.cpp │ ├── SpiralIteratorTest.cpp │ ├── SubmapIteratorTest.cpp │ ├── test_grid_map_core.cpp │ ├── test_helpers.cpp │ └── test_helpers.hpp ├── grid_map_costmap_2d ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── grid_map_costmap_2d │ │ ├── Costmap2DConverter.hpp │ │ └── grid_map_costmap_2d.hpp ├── package.xml ├── rostest │ ├── CMakeLists.txt │ ├── README.md │ └── costmap_2d_ros │ │ ├── costmap_2d_ros.cpp │ │ ├── costmap_2d_ros.hpp │ │ └── costmap_2d_ros.test └── test │ ├── Costmap2DConverterTest.cpp │ └── test_grid_map_costmap_2d.cpp ├── grid_map_cv ├── CHANGELOG.rst ├── CMakeLists.txt ├── filter_plugins.xml ├── include │ └── grid_map_cv │ │ ├── GridMapCvConverter.hpp │ │ ├── GridMapCvProcessing.hpp │ │ ├── InpaintFilter.hpp │ │ └── grid_map_cv.hpp ├── package.xml ├── src │ ├── GridMapCvProcessing.cpp │ └── InpaintFilter.cpp └── test │ ├── GridMapCvProcessingTest.cpp │ ├── GridMapCvTest.cpp │ └── test_grid_map_cv.cpp ├── grid_map_demos ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── filters_demo.yaml │ ├── filters_demo_filter_chain.yaml │ ├── grid_map_loader_demo.yaml │ ├── image_to_gridmap_demo.yaml │ ├── interpolation_demo.yaml │ ├── iterators_demo.yaml │ ├── move_demo.yaml │ ├── normal_filter_comparison.yaml │ ├── normal_filter_comparison_visualization.yaml │ ├── octomap_to_gridmap_demo.yaml │ ├── opencv_demo.yaml │ ├── resolution_change_demo.yaml │ ├── sdf_demo.yaml │ ├── simple_demo.yaml │ └── tutorial_demo.yaml ├── data │ ├── eth_logo.png │ ├── freiburg1_360.bt │ ├── grid_map.bag │ ├── heightmap_generated.png │ ├── linearGradient_horizontal.png │ ├── linearGradient_oblique_and_flat.png │ ├── linearGradient_oblique_only.png │ ├── linearGradient_vertical.png │ ├── radialGradient_circle.png │ ├── radialGradient_ellipse.png │ ├── radialGradient_horizontal.png │ └── terrain.png ├── doc │ ├── filters_demo.gif │ ├── filters_demo_preview.gif │ ├── image_to_grid_map_demo_result.png │ └── opencv_demo_result.gif ├── include │ └── grid_map_demos │ │ ├── FiltersDemo.hpp │ │ ├── GridmapToImageDemo.hpp │ │ ├── ImageToGridmapDemo.hpp │ │ ├── InterpolationDemo.hpp │ │ ├── IteratorsDemo.hpp │ │ ├── OctomapToGridmapDemo.hpp │ │ └── SdfDemo.hpp ├── launch │ ├── filters_demo.launch │ ├── grid_map_loader_demo.launch │ ├── image_to_gridmap_demo.launch │ ├── interpolation_demo.launch │ ├── iterators_demo.launch │ ├── move_demo.launch │ ├── normal_filter_comparison.launch │ ├── octomap_to_gridmap_demo.launch │ ├── opencv_demo.launch │ ├── resolution_change_demo.launch │ ├── sdf_demo.launch │ ├── simple_demo.launch │ └── tutorial_demo.launch ├── package.xml ├── rviz │ ├── filters_demo.rviz │ ├── grid_map_demo.rviz │ ├── grid_map_iterators_demo.rviz │ ├── interpolation_demo.rviz │ ├── normal_filter_comparison_demo.rviz │ ├── octomap_to_gridmap_demo.rviz │ └── sdf_demo.rviz ├── scripts │ └── image_publisher.py ├── src │ ├── FiltersDemo.cpp │ ├── GridmapToImageDemo.cpp │ ├── ImageToGridmapDemo.cpp │ ├── InterpolationDemo.cpp │ ├── IteratorsDemo.cpp │ ├── OctomapToGridmapDemo.cpp │ ├── SdfDemo.cpp │ ├── filters_demo_node.cpp │ ├── grid_map_to_image_demo_node.cpp │ ├── image_to_gridmap_demo_node.cpp │ ├── interpolation_demo_node.cpp │ ├── iterator_benchmark.cpp │ ├── iterators_demo_node.cpp │ ├── move_demo_node.cpp │ ├── normal_filter_comparison_node.cpp │ ├── octomap_to_gridmap_demo_node.cpp │ ├── opencv_demo_node.cpp │ ├── resolution_change_demo_node.cpp │ ├── sdf_demo_node.cpp │ ├── simple_demo_node.cpp │ └── tutorial_demo_node.cpp └── test │ └── empty_test.cpp ├── grid_map_filters ├── CHANGELOG.rst ├── CMakeLists.txt ├── filter_plugins.xml ├── include │ ├── EigenLab │ │ ├── EigenLab.h │ │ └── LICENSE │ └── grid_map_filters │ │ ├── BufferNormalizerFilter.hpp │ │ ├── ColorBlendingFilter.hpp │ │ ├── ColorFillFilter.hpp │ │ ├── ColorMapFilter.hpp │ │ ├── CurvatureFilter.hpp │ │ ├── DeletionFilter.hpp │ │ ├── DuplicationFilter.hpp │ │ ├── LightIntensityFilter.hpp │ │ ├── MathExpressionFilter.hpp │ │ ├── MeanInRadiusFilter.hpp │ │ ├── MedianFillFilter.hpp │ │ ├── MinInRadiusFilter.hpp │ │ ├── MockFilter.hpp │ │ ├── NormalColorMapFilter.hpp │ │ ├── NormalVectorsFilter.hpp │ │ ├── SetBasicLayersFilter.hpp │ │ ├── SlidingWindowMathExpressionFilter.hpp │ │ └── ThresholdFilter.hpp ├── package.xml ├── src │ ├── BufferNormalizerFilter.cpp │ ├── ColorBlendingFilter.cpp │ ├── ColorFillFilter.cpp │ ├── ColorMapFilter.cpp │ ├── CurvatureFilter.cpp │ ├── DeletionFilter.cpp │ ├── DuplicationFilter.cpp │ ├── LightIntensityFilter.cpp │ ├── MathExpressionFilter.cpp │ ├── MeanInRadiusFilter.cpp │ ├── MedianFillFilter.cpp │ ├── MinInRadiusFilter.cpp │ ├── MockFilter.cpp │ ├── NormalColorMapFilter.cpp │ ├── NormalVectorsFilter.cpp │ ├── SetBasicLayersFilter.cpp │ ├── SlidingWindowMathExpressionFilter.cpp │ ├── ThresholdFilter.cpp │ └── plugins.cpp └── test │ ├── median_fill_filter_test.cpp │ ├── mock_filter_test.cpp │ ├── test_grid_map_filters.cpp │ └── threshold_filter_test.cpp ├── grid_map_loader ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── grid_map_loader │ │ └── GridMapLoader.hpp ├── package.xml ├── src │ ├── GridMapLoader.cpp │ └── grid_map_loader_node.cpp └── test │ ├── empty_test.cpp │ └── test_grid_map_loader.cpp ├── grid_map_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── GridMap.msg │ └── GridMapInfo.msg ├── package.xml └── srv │ ├── GetGridMap.srv │ ├── GetGridMapInfo.srv │ ├── ProcessFile.srv │ └── SetGridMap.srv ├── grid_map_octomap ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── grid_map_octomap │ │ ├── GridMapOctomapConverter.hpp │ │ └── grid_map_octomap.hpp ├── package.xml ├── src │ └── GridMapOctomapConverter.cpp └── test │ ├── OctomapConverterTest.cpp │ └── test_grid_map_octomap.cpp ├── grid_map_pcl ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ └── parameters.yaml ├── data │ └── input_cloud.pcd ├── doc │ ├── forest.png │ ├── indoor.png │ └── outdoor.png ├── include │ └── grid_map_pcl │ │ ├── GridMapPclConverter.hpp │ │ ├── GridMapPclLoader.hpp │ │ ├── PclLoaderParameters.hpp │ │ ├── PointcloudProcessor.hpp │ │ ├── grid_map_pcl.hpp │ │ └── helpers.hpp ├── launch │ └── grid_map_pcl_loader_node.launch ├── package.xml ├── rviz │ └── grid_map_vis.rviz ├── src │ ├── GridMapPclConverter.cpp │ ├── GridMapPclLoader.cpp │ ├── PclLoaderParameters.cpp │ ├── PointcloudProcessor.cpp │ ├── grid_map_pcl_loader_node.cpp │ ├── helpers.cpp │ └── pointcloud_publisher_node.cpp └── test │ ├── GridMapPclLoaderTest.cpp │ ├── HelpersTest.cpp │ ├── PointcloudCreator.cpp │ ├── PointcloudCreator.hpp │ ├── PointcloudProcessorTest.cpp │ ├── test_data │ ├── parameters.yaml │ └── plane_noisy.pcd │ ├── test_grid_map_pcl.cpp │ ├── test_helpers.cpp │ └── test_helpers.hpp ├── grid_map_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── grid_map_ros │ │ ├── GridMapMsgHelpers.hpp │ │ ├── GridMapRosConverter.hpp │ │ ├── PolygonRosConverter.hpp │ │ ├── grid_map_ros.hpp │ │ └── message_traits.hpp ├── package.xml ├── src │ ├── GridMapMsgHelpers.cpp │ ├── GridMapRosConverter.cpp │ └── PolygonRosConverter.cpp └── test │ ├── GridMapRosTest.cpp │ └── test_grid_map_ros.cpp ├── grid_map_rviz_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── grid_map_rviz_plugin.png │ └── grid_map_rviz_plugin_example.png ├── icons │ └── classes │ │ └── GridMap.png ├── include │ └── grid_map_rviz_plugin │ │ ├── GridMapColorMaps.hpp │ │ ├── GridMapDisplay.hpp │ │ ├── GridMapVisual.hpp │ │ └── modified │ │ ├── frame_manager.h │ │ └── message_filter_display.h ├── package.xml ├── plugin_description.xml ├── src │ ├── GridMapDisplay.cpp │ └── GridMapVisual.cpp └── test │ ├── empty_test.cpp │ └── test_grid_map_rviz_plugin.cpp ├── grid_map_sdf ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ └── anymal_sdf_demo.gif ├── include │ └── grid_map_sdf │ │ ├── DistanceDerivatives.hpp │ │ ├── Gridmap3dLookup.hpp │ │ ├── PixelBorderDistance.hpp │ │ ├── SignedDistance2d.hpp │ │ ├── SignedDistanceField.hpp │ │ └── Utils.hpp ├── package.xml ├── src │ ├── SignedDistance2d.cpp │ └── SignedDistanceField.cpp └── test │ ├── include │ └── naiveSignedDistance.hpp │ ├── test3dLookup.cpp │ ├── testDerivatives.cpp │ ├── testPixelBorderDistance.cpp │ ├── testSignedDistance2d.cpp │ ├── testSignedDistance3d.cpp │ └── test_grid_map_sdf.cpp └── grid_map_visualization ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc ├── grid_cells.jpg ├── grid_cells_preview.jpg ├── occupancy_grid.jpg ├── occupancy_grid_preview.jpg ├── point_cloud.jpg ├── point_cloud_preview.jpg ├── vectors.jpg └── vectors_preview.jpg ├── include └── grid_map_visualization │ ├── GridMapVisualization.hpp │ ├── GridMapVisualizationHelpers.hpp │ └── 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