ground_removal.hpp

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#pragma once
 
#include <algorithm>
#include <cmath>
#include <cstring>
#include <limits>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <utils/ground_grid.hpp>
#include <utils/lidar_point.hpp>
#include <utils/trimming_parameters.hpp>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
 
class GroundRemoval {
public:
  virtual void ground_removal(const sensor_msgs::msg::PointCloud2::SharedPtr& trimmed_point_cloud,
                              sensor_msgs::msg::PointCloud2::SharedPtr& ground_removed_point_cloud,
                              GroundGrid& ground_grid) const = 0;
};