将以下c++代码,按照value为0.2以下或0.8以上给栅格状态赋为0,value为0.2到0.8之间赋为1的思想进行修改“ for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) { float value = (gridMap.at(layer, *iterator) - dataMin) / (dataMax - dataMin); if (isnan(value)) value = -1; else value = cellMin + min(max(0.0f, value), 1.0f) * cellRange; size_t index = getLinearIndexFromIndex(iterator.getUnwrappedIndex(), gridMap.getSize(), false); // Reverse cell order because of different conventions between occupancy grid and grid map. occupancyGrid.data[nCells - index - 1] = value; }”
时间: 2024-01-02 11:02:44 浏览: 34
以下是修改后的代码:
```
for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
float value = (gridMap.at(layer, *iterator) - dataMin) / (dataMax - dataMin);
if (isnan(value))
value = -1;
else {
if (value < 0.2 || value > 0.8) {
value = 0;
} else {
value = 1;
}
}
size_t index = getLinearIndexFromIndex(iterator.getUnwrappedIndex(), gridMap.getSize(), false);
// Reverse cell order because of different conventions between occupancy grid and grid map.
occupancyGrid.data[nCells - index - 1] = value;
}
```
在原来的代码中,我们将`value`限制在0到1之间。现在,我们在else语句块中添加了条件语句,判断`value`是否小于0.2或大于0.8。如果是,则将栅格状态赋为0,否则将其赋为1。这样就实现了按照value为0.2以下或0.8以上给栅格状态赋为0,value为0.2到0.8之间赋为1的功能。