Backport SignedDistance2d 2D SDF helpers from master to kilted#535
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Backport SignedDistance2d 2D SDF helpers from master to kilted#535JayHerpin wants to merge 1 commit into
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Copies SignedDistance2d.{hpp,cpp}, Utils.hpp, and PixelBorderDistance.hpp
verbatim from master, where they were introduced by 91ba880, and adds the
new translation unit to grid_map_sdf's add_library list.
No behavioral changes to existing code. Pure additions; only external
symbol referenced by the new files is grid_map_core/TypeDefs.hpp, already
a dep of grid_map_sdf.
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Summary
Backports the 2D-from-occupancy SDF helpers (
grid_map::signed_distance_field::signedDistanceFromOccupancy) frommasterontokilted.The four files are copied verbatim from
master, where they were introduced by 91ba880:grid_map_sdf/include/grid_map_sdf/SignedDistance2d.hppgrid_map_sdf/include/grid_map_sdf/Utils.hppgrid_map_sdf/include/grid_map_sdf/PixelBorderDistance.hppgrid_map_sdf/src/SignedDistance2d.cppgrid_map_sdf/CMakeLists.txtis updated to add the new translation unit toadd_library.Motivation
signedDistanceFromOccupancyonly exists onmaster. Downstream consumers on thekilteddistro need it to compute a 2D SDF from abooloccupancy grid. The headers' only external symbol isgrid_map_core/TypeDefs.hpp, which is already agrid_map_sdfdependency, so no new transitive deps are introduced.Companion PR
A matching backport against
rollingis filed separately: see #536 (rolling).Build verification
Built clean against
kiltedin a downstream ROS 2 workspace;grid_map_sdf(and the rest of thegrid_mapgraph) compiles andsignedDistanceFromOccupancyis callable from consumer code.Notes for maintainers
testSignedDistance2d.cppif it compiles cleanly under this branch's CMakeLists; let me know if you'd like it included.