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Merged
nathanhhughes merged 1 commit into from
Oct 13, 2025
Merged

update to new api #42

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4 changes: 1 addition & 3 deletions hydra_ros/include/hydra_ros/places/external_traversability_estimator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,9 +60,7 @@ class ExternalTraversabilityEstimator : public TraversabilityEstimator {
ExternalTraversabilityEstimator(const Config& config);
~ExternalTraversabilityEstimator() override = default;

void updateTraversability(const ActiveWindowOutput& msg,
const kimera_pgmo::MeshDelta& /* mesh_delta */,
const spark_dsg::DynamicSceneGraph& /* graph */) override;
void updateTraversability(const ActiveWindowOutput& msg) override;

void callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);

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4 changes: 1 addition & 3 deletions hydra_ros/src/places/external_traversability_estimator.cpp
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Expand Up @@ -74,9 +74,7 @@ const TraversabilityLayer& ExternalTraversabilityEstimator::getTraversabilityLay
}

void ExternalTraversabilityEstimator::updateTraversability(
const ActiveWindowOutput& msg,
const kimera_pgmo::MeshDelta&,
const spark_dsg::DynamicSceneGraph&) {
const ActiveWindowOutput& msg) {
if (!traversability_layer_) {
const auto& map_config = msg.map().config;
traversability_layer_ = std::make_unique<TraversabilityLayer>(
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