Change type signature

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>

Author: arjo129

include/gz/math/OccupancyGrid.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_OCCUPANCY_GRID_HH_
 #define GZ_MATH_OCCUPANCY_GRID_HH_
 
+#include <cstdint>
 #include <memory>
 #include <vector>
 
@@ -123,11 +124,11 @@ inline namespace GZ_MATH_VERSION_NAMESPACE {
 
   /// \brief Export the occupancy grid to a RGB image buffer.
   /// \param[out] _pixels The output buffer to store the RGB image data.
-  public: void ExportToRGBImage(std::vector<unsigned char> &_pixels) const;
+  public: void ExportToRGBImage(std::vector<uint8_t> &_pixels) const;
 
   /// \brief Export the occupancy grid to a raw buffer.
   /// \param[out] _data The output buffer to store the raw occupancy data.
-  public: void GetRawOccupancy(std::vector<char> &_data) const;
+  public: void GetRawOccupancy(std::vector<int8_t> &_data) const;
 
   /// \brief Get the resolution of the occupancy grid.
   /// \return The resolution in meters per cell.

src/OccupancyGrid.cc

@@ -15,6 +15,7 @@
  *
 */
 #include <cmath>
+#include <cstdint>
 #include <memory>
 #include <utility>
 #include <vector>
@@ -246,15 +247,15 @@ void OccupancyGrid::MarkFree(double worldX0, double worldY0, double worldX1,
 }
 
 /////////////////////////////////////////////////
-void OccupancyGrid::ExportToRGBImage(std::vector<unsigned char>& _pixels) const
+void OccupancyGrid::ExportToRGBImage(std::vector<uint8_t>& _pixels) const
 {
   _pixels.assign(this->pImpl->widthCells * this->pImpl->heightCells * 3, 0);
 
   for (int gridY = 0; gridY < this->pImpl->heightCells; ++gridY)
   {
     for (int gridX = 0; gridX < this->pImpl->widthCells; ++gridX)
     {
-      unsigned char r = 0, g = 0, b = 0;
+      uint8_t r = 0, g = 0, b = 0;
       auto res = this->pImpl->GetCellStateImpl(gridX, gridY);
       switch (res)
       {
@@ -283,15 +284,15 @@ void OccupancyGrid::ExportToRGBImage(std::vector<unsigned char>& _pixels) const
 }
 
 /////////////////////////////////////////////////
-void OccupancyGrid::GetRawOccupancy(std::vector<char>& _data) const
+void OccupancyGrid::GetRawOccupancy(std::vector<int8_t>& _data) const
 {
   _data.assign(this->pImpl->widthCells * this->pImpl->heightCells, 0);
 
   for (int gridY = 0; gridY < this->pImpl->heightCells; ++gridY)
   {
     for (int gridX = 0; gridX < this->pImpl->widthCells; ++gridX)
     {
-      char val = -1;
+      int8_t val = -1;
       auto res = this->pImpl->GetCellStateImpl(gridX, gridY);
       switch (res)
       {

src/OccupancyGrid_TEST.cc

@@ -195,7 +195,7 @@ TEST(OccupancyGridTest, ExportToRGBImage)
   grid.SetCellState(1, 0, CellState::Unknown);
   // (1, 1) is implicitly Unknown
 
-  std::vector<unsigned char> pixels;
+  std::vector<uint8_t> pixels;
   grid.ExportToRGBImage(pixels);
 
   // Expected size: 2x2 grid * 3 channels (RGB)
@@ -231,7 +231,7 @@ TEST(OccupancyGridTest, GetRawOccupancy)
   grid.SetCellState(1, 1, CellState::Free);
   grid.SetCellState(2, 1, CellState::Unknown);
 
-  std::vector<char> data;
+  std::vector<int8_t> data;
   grid.GetRawOccupancy(data);
 
   ASSERT_EQ(data.size(), 6);

src/python_pybind11/src/OccupancyGrid.cc

@@ -19,6 +19,7 @@
 #include <pybind11/stl.h>
 #include <pybind11/numpy.h>
 
+#include <cstdint>
 #include <memory>
 #include <string>
 #include <tuple>
@@ -73,15 +74,15 @@ void defineMathOccupancyGrid(py::module &m, const std::string &typestr)
     .def("mark_free", &Class::MarkFree,
          "Mark a path as free.")
     .def("export_to_rgb_image", [](const Class &self) {
-        std::vector<unsigned char> pixels;
+        std::vector<uint8_t> pixels;
         self.ExportToRGBImage(pixels);
         return py::bytes(reinterpret_cast<const char*>(pixels.data()),
         pixels.size());
      }, "Export the occupancy grid to a RGB image buffer.")
     .def("get_raw_occupancy", [](const Class &self) {
-        std::vector<char> data;
+        std::vector<int8_t> data;
         self.GetRawOccupancy(data);
-        return py::bytes(data.data(), data.size());
+        return py::bytes(reinterpret_cast<const char*>(data.data()), data.size());
      }, "Export the occupancy grid to a raw buffer.")
     .def("get_resolution", &Class::GetResolution,
          "Get the resolution of the occupancy grid.")