update for ndt_omp

Signed-off-by: kminoda <koji.minoda@tier4.jp>
kminoda · Jan 6, 2023 · 91f5298 · 91f5298
1 parent 572f140
commit 91f5298
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_module.hpp
@@ -19,7 +19,7 @@
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
-#include <multigrid_pclomp/ndt_omp.h>
+#include <multigrid_pclomp/multigrid_ndt_omp.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
@@ -30,7 +30,7 @@ class MapModule
   using PointSource = pcl::PointXYZ;
   using PointTarget = pcl::PointXYZ;
   using NormalDistributionsTransform =
-    pclomp::NormalDistributionsTransform<PointSource, PointTarget>;
+    pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
   MapModule(

diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
@@ -30,15 +30,15 @@
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <fmt/format.h>
-#include <multigrid_pclomp/ndt_omp.h>
+#include <multigrid_pclomp/multigrid_ndt_omp.h>
 #include <pcl_conversions/pcl_conversions.h>
 
 class MapUpdateModule
 {
   using PointSource = pcl::PointXYZ;
   using PointTarget = pcl::PointXYZ;
   using NormalDistributionsTransform =
-    pclomp::NormalDistributionsTransform<PointSource, PointTarget>;
+    pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
   MapUpdateModule(

diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -35,7 +35,7 @@
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <fmt/format.h>
-#include <multigrid_pclomp/ndt_omp.h>
+#include <multigrid_pclomp/multigrid_ndt_omp.h>
 #include <pcl/point_types.h>
 #include <tf2/transform_datatypes.h>
 
@@ -72,7 +72,7 @@ class NDTScanMatcher : public rclcpp::Node
   using PointSource = pcl::PointXYZ;
   using PointTarget = pcl::PointXYZ;
   using NormalDistributionsTransform =
-    pclomp::NormalDistributionsTransform<PointSource, PointTarget>;
+    pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
   NDTScanMatcher();

diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp
@@ -27,7 +27,7 @@
 #include <tier4_localization_msgs/srv/pose_with_covariance_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <multigrid_pclomp/ndt_omp.h>
+#include <multigrid_pclomp/multigrid_ndt_omp.h>
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <map>
@@ -39,7 +39,7 @@ class PoseInitializationModule
   using PointSource = pcl::PointXYZ;
   using PointTarget = pcl::PointXYZ;
   using NormalDistributionsTransform =
-    pclomp::NormalDistributionsTransform<PointSource, PointTarget>;
+    pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
   PoseInitializationModule(