message: Clean up settings in esdf integrator.
diff: @@ -34,6 +34,12 @@ class EsdfIntegrator {
  float min_weight = 1e-6;
  // Number of buckets for the bucketed priority queue.
  int num_buckets = 20;
  +
  + // For marking unknown space around a robot as free or occupied, these are
  + // the
  + // radiuses used around each robot position.
  + FloatingPoint clear_sphere_radius = 1.5;
  + FloatingPoint occupied_sphere_radius = 5.0;
  };
  EsdfIntegrator(const Config& config, Layer<TsdfVoxel>* tsdf_layer,
  @@ -84,13 +90,10 @@ class EsdfIntegrator {
  void addNewRobotPosition(const Point& position) {
  timing::Timer clear_timer("esdf/clear_radius");
  - constexpr FloatingPoint planning_sphere_radius = 5.0;
  - // Ugh this should probably match the checking radius...
  - constexpr FloatingPoint clear_sphere_radius = 1.5;
  -
  // First set all in inner sphere to free.
  BlockVoxelListMap block_voxel_list;
  - getSphereAroundPoint(position, clear_sphere_radius, &block_voxel_list);
  + getSphereAroundPoint(position, config_.clear_sphere_radius,
  + &block_voxel_list);
  for (const std::pair<BlockIndex, VoxelIndexList>& kv : block_voxel_list) {
  // Get block.
  Block<EsdfVoxel>::Ptr block_ptr =
  @@ -109,7 +112,8 @@ class EsdfIntegrator {
  // Second set all remaining unknown to occupied.
  block_voxel_list.clear();
  - getSphereAroundPoint(position, planning_sphere_radius, &block_voxel_list);
  + getSphereAroundPoint(position, config_.occupied_sphere_radius,
  + &block_voxel_list);
  for (const std::pair<BlockIndex, VoxelIndexList>& kv : block_voxel_list) {
  // Get block.
  Block<EsdfVoxel>::Ptr block_ptr =
  @@ -927,8 +931,7 @@ class EsdfIntegrator {
  // Raise set for updates; these are values that used to be in the fixed
  // frontier and now have a higher value, or their children which need to
  - // have
  - // their values invalidated.
  + // have their values invalidated.
  std::queue<VoxelKey> raise_;
  size_t esdf_voxels_per_side_;
  