Merge pull request #1 from ANYbotics/master

Merge ANYbotics/grid_map

Author: tomlankhorst

README.md

@@ -22,7 +22,7 @@ The source code is released under a [BSD 3-Clause license](LICENSE).
 **Author: Péter Fankhauser<br />
 Affiliation: [ANYbotics](https://www.anybotics.com/)<br />
 Maintainer: Péter Fankhauser, pfankhauser@anybotics.com<br />**
-With contributions by: Tanja Baumann, Jeff Delmerico, Remo Diethelm, Perry Franklin, Dominic Jud, Ralph Kaestner, Philipp Krüsi, Alex Millane, Daniel Stonier, Elena Stumm, Martin Wermelinger, Christos Zalidis, Edo Jelavic, Ruben Grandia
+With contributions by: Tanja Baumann, Jeff Delmerico, Remo Diethelm, Perry Franklin, Dominic Jud, Ralph Kaestner, Philipp Krüsi, Alex Millane, Daniel Stonier, Elena Stumm, Martin Wermelinger, Christos Zalidis, Edo Jelavic, Ruben Grandia, Simone Arreghini
 
 This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab).
 
@@ -169,7 +169,24 @@ The *grid_map_demos* package contains several demonstration nodes. Use this code
 
     [![Filters demo results](grid_map_demos/doc/filters_demo_preview.gif)](grid_map_demos/doc/filters_demo.gif)
 
-For more information about grid map filters, see [grid_map_filters](#grid_map_filters).
+ For more information about grid map filters, see [grid_map_filters](#grid_map_filters).
+
+* *[interpolation_demo](grid_map_demos/src/InterpolationDemo.cpp)* shows the result of different interpolation methods on the resulting surface. The start the demo, use
+
+        roslaunch grid_map_demos interpolation_demo.launch
+
+<img src="grid_map_core/doc/interpolationSineWorld.gif" width="256" height="252">
+<img src="grid_map_core/doc/interpolationGaussWorld.gif" width="256" height="252">
+
+The user can play with different worlds (surfaces) and different interpolation settings in the [`interpolation_demo.yaml`](grid_map_demos/config/interpolation_demo.yaml) file. The visualization displays the ground truth in green and yellow color. The interpolation result is shown in red and purple colors. Also, the demo computes maximal and average interpolation errors, as well as the average time required for a single interpolation query.
+
+Grid map features four different interpolation methods (in order of increasing accuracy and increasing complexity):
+* **NN** - Nearest Neighbour (fastest, but least accurate).
+* **Linear** - Linear interpolation.
+* **Cubic convolution** - Piecewise cubic interpolation. Implemented using the cubic convolution algorithm.
+* **Cubic** - Cubic interpolation (slowest, but most accurate).
+
+For more details check the literature listed in  [`CubicInterpolation.hpp`](grid_map_core/include/grid_map_core/CubicInterpolation.hpp) file.
 
 ### Conventions & Definitions
 

grid_map/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 project(grid_map)
 find_package(catkin REQUIRED)
 catkin_metapackage()

grid_map_core/CMakeLists.txt

@@ -1,10 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 project(grid_map_core)
 
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
 ## Find catkin macros and libraries
-find_package(catkin REQUIRED COMPONENTS)
+find_package(catkin REQUIRED)
 
 ## Define Eigen addons. 
 include(cmake/${PROJECT_NAME}-extras.cmake)
@@ -48,8 +48,9 @@ catkin_package(
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ## Declare a cpp library
@@ -59,6 +60,7 @@ add_library(${PROJECT_NAME}
    src/SubmapGeometry.cpp
    src/BufferRegion.cpp
    src/Polygon.cpp
+   src/CubicInterpolation.cpp
    src/iterators/GridMapIterator.cpp
    src/iterators/SubmapIterator.cpp
    src/iterators/CircleIterator.cpp
@@ -103,24 +105,45 @@ install(
 #############
 
 if(CATKIN_ENABLE_TESTING)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
-## Add gtest based cpp test target and link libraries
-catkin_add_gtest(${PROJECT_NAME}-test
-  test/test_grid_map_core.cpp
-  test/GridMapMathTest.cpp
-  test/GridMapTest.cpp
-  test/GridMapIteratorTest.cpp
-  test/LineIteratorTest.cpp
-  test/EllipseIteratorTest.cpp
-  test/SubmapIteratorTest.cpp
-  test/PolygonIteratorTest.cpp
-  test/PolygonTest.cpp
-  test/EigenPluginsTest.cpp
-  test/SpiralIteratorTest.cpp
-  test/SlidingWindowIteratorTest.cpp
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+
+  ## Add gtest based cpp test target and link libraries
+  catkin_add_gtest(${PROJECT_NAME}-test
+    test/test_grid_map_core.cpp
+    test/test_helpers.cpp
+    test/CubicConvolutionInterpolationTest.cpp
+    test/CubicInterpolationTest.cpp
+    test/GridMapMathTest.cpp
+    test/GridMapTest.cpp
+    test/GridMapIteratorTest.cpp
+    test/LineIteratorTest.cpp
+    test/EllipseIteratorTest.cpp
+    test/SubmapIteratorTest.cpp
+    test/PolygonIteratorTest.cpp
+    test/PolygonTest.cpp
+    test/EigenPluginsTest.cpp
+    test/SpiralIteratorTest.cpp
+    test/SlidingWindowIteratorTest.cpp
+  )
+  target_include_directories(${PROJECT_NAME}-test PRIVATE
+    include
+  )
+  target_include_directories(${PROJECT_NAME}-test SYSTEM PUBLIC
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
+  )
+  target_link_libraries(${PROJECT_NAME}-test
+    ${PROJECT_NAME}
   )
-endif()
 
-if(TARGET ${PROJECT_NAME}-test)
-  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-endif()
+  ###################
+  ## Code_coverage ##
+  ###################
+  find_package(cmake_code_coverage QUIET)
+  if(cmake_code_coverage_FOUND)
+    add_gtest_coverage(
+      TEST_BUILD_TARGETS
+        ${PROJECT_NAME}-test
+    )
+  endif()
+endif()