map.hpp

 
#ifndef UFO_MAP_OCCUPANCY_MAP_HPP
#define UFO_MAP_OCCUPANCY_MAP_HPP
 
// UFO
#include <ufo/map/occupancy/block.hpp>
#include <ufo/map/occupancy/detail/map.hpp>
#include <ufo/map/occupancy/predicate.hpp>
#include <ufo/map/occupancy/propagation_criteria.hpp>
#include <ufo/map/occupancy/state.hpp>
 
namespace ufo
{
template <class T>
struct OccupancyMapT {
    using Block = OccupancyBlock<T>;
 
    template <class Derived, class Tree>
    using Map = detail::OccupancyMap<Derived, Tree, Block>;
};
 
using OccupancyMap      = OccupancyMapT<float>;
using OccupancyMapSmall = OccupancyMapT<std::int8_t>;
using OccupancyMapTiny  = OccupancyMapT<OccupancyState>;
}  // namespace ufo
 
#endif  // UFO_MAP_OCCUPANCY_MAP_HPP