Geometry¶
This is a very simple module used to make the geometric operations needed when building the map.
It has two main functions:
- To generate the rays that travel from the sensor to the detected object. This is currently done with a very simple sampling algorith. Better algorithms can be used to correctly represent the line (like the Bresenham’s line algorithm).
- To transform the coordinates from the sensor coordinates to the world coordinates in which the map is built. There is no interface yet for using extranal transformations like ROS’ tf.