cost_map
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stonier
Costmaps, directly analogous to ethz-asl's grid_map library.
This add minor optimizations that in my test increase the speed of inflate by 20%.
Just planning to take a step from costmap_2d to gridmap/costmap. Wondering if there is already a functionality/layer like [ObstacleLayer in costmap_2d](http://wiki.ros.org/costmap_2d/hydro/obstacles). If not, would it make sense to have it...
Right now the image bundles convert from opencv type to a ros image message and then to a cost map object. Cut the secondary conversion and go direct from opencv...
Write now it just converts data linearly according to the policy 0.0 (FREE_SPACE) - 100.0 (NO_INFORMATION). * Could use a user-provided rule for conversion * Could use a `addLayerFromCostMap()` function...