setup_util.hpp

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/*
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_SETUP_UTIL_HPP
#define SE_SETUP_UTIL_HPP
 
#include <Eigen/Core>
 
namespace se {
 
static inline Eigen::Vector3f sample_offset_frac = Eigen::Vector3f::Constant(0.5f);
 
// Representation enums
enum class Field { TSDF, Occupancy };
enum class Colour { Off, On };
enum class Semantics { Off, On };
 
// Other enums
enum class Res { Single, Multi };
enum class Integ { Simple, LiDAR, PinholeCamera };
enum class Safe { On = true, Off = false }; // Switch between Safe and Sorry
 
enum class AllocMeth { Raycasting, VoxelCarving }; // Allocation method
enum class Rep { Surface, Freespace };             // Map representation
 
enum class Sort { SmallToLarge, LargeToSmall };
 
} // namespace se
 
#endif // SE_SETUP_UTIL_HPP