autoware::common::geometry::spatial_hash::Config< Derived

The base class for the configuration object for the SpatialHash class. More...

#include <spatial_hash_config.hpp>

Inheritance diagram for autoware::common::geometry::spatial_hash::Config< Derived >:

Collaboration diagram for autoware::common::geometry::spatial_hash::Config< Derived >:

Public Member Functions
	Config (const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, const float32_t min_z, const float32_t max_z, const float32_t radius, const Index capacity)
	Constructor for spatial hash. More...

details::BinRange	bin_range (const details::Index3 &ref, const float radius) const
	Given a reference index triple, compute the first and last bin. More...

bool8_t	next_bin (const details::BinRange &range, details::Index3 &idx) const
	Get next index within a given range. More...

Index	get_capacity () const
	Get the maximum capacity of the spatial hash. More...

float32_t	radius2 () const
	Getter for the side length, equivalently the lookup radius. More...

Index	bin (const float32_t x, const float32_t y, const float32_t z) const
	Compute the single index given a point. More...

bool	is_candidate_bin (const details::Index3 &ref, const details::Index3 &query, const float ref_distance2) const
	Compute whether the query bin and reference bin could possibly contain a pair of points such that their distance is within a certain threshold. More...

details::Index3	index3 (const float32_t x, const float32_t y, const float32_t z) const
	Compute the decomposed index given a point. More...

Index	index (const details::Index3 &idx) const
	Compute the composed single index given a decomposed index. More...

template<typename PointT >
float32_t	distance_squared (const float32_t x, const float32_t y, const float32_t z, const PointT &pt) const
	Compute the squared distance between the two points. More...

Protected Member Functions
Index	x_index (const float32_t x) const
	Computes the index in the x basis direction. More...

Index	y_index (const float32_t y) const
	Computes the index in the y basis direction. More...

Index	z_index (const float32_t z) const
	Computes the index in the z basis direction. More...

Index	bin_impl (const Index xdx, const Index ydx) const
	Compose the provided index offsets. More...

Index	bin_impl (const Index xdx, const Index ydx, const Index zdx) const
	Compose the provided index offsets. More...

Index	bin_impl (const float32_t x, const float32_t y) const
	The index offset of a point given it's x and y values. More...

Index	bin_impl (const float32_t x, const float32_t y, const float32_t z) const
	The index of a point given it's x, y and z values. More...

float32_t	idx_distance (const Index ref_idx, const Index query_idx) const
	The distance between two indices as a float, where adjacent indices have zero distance (e.g. dist(0, 1) = 0) More...

float	side_length2 () const
	Get side length squared. More...

Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived &	impl () const

Derived &	impl ()

Detailed Description

template<typename Derived>
class autoware::common::geometry::spatial_hash::Config< Derived >

The base class for the configuration object for the SpatialHash class.

Template Parameters

Derived The type of the derived class to support static polymorphism/CRTP

Constructor & Destructor Documentation

◆ Config()

template<typename Derived >

autoware::common::geometry::spatial_hash::Config< Derived >::Config	(	const float32_t	min_x,
		const float32_t	max_x,
		const float32_t	min_y,
		const float32_t	max_y,
		const float32_t	min_z,
		const float32_t	max_z,
		const float32_t	radius,
		const Index	capacity
	)

inline

Constructor for spatial hash.

Parameters

[in]	min_x	The minimum x value for the spatial hash
[in]	max_x	The maximum x value for the spatial hash
[in]	min_y	The minimum y value for the spatial hash
[in]	max_y	The maximum y value for the spatial hash
[in]	min_z	The minimum z value for the spatial hash
[in]	max_z	The maximum z value for the spatial hash
[in]	radius	The look up radius
[in]	capacity	The maximum number of points the spatial hash can store

Member Function Documentation

◆ bin()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::bin	(	const float32_t	x,
		const float32_t	y,
		const float32_t	z
	)		const

inline

Compute the single index given a point.

Parameters

[in]	x	The x component of the point
[in]	y	The y component of the point
[in]	z	The z component of the point

Returns: The combined index of the bin for a given point

◆ bin_impl() [1/4]

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::bin_impl	(	const float32_t	x,
		const float32_t	y
	)		const

inlineprotected

The index offset of a point given it's x and y values.

Parameters

[in]	x	The x value of a point
[in]	y	the y value of a point

Returns: The index of the point in the 2D case, or the offset within a z-slice of the hash

◆ bin_impl() [2/4]

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::bin_impl	(	const float32_t	x,
		const float32_t	y,
		const float32_t	z
	)		const

inlineprotected

The index of a point given it's x, y and z values.

Parameters

[in]	x	The x value of a point
[in]	y	the y value of a point
[in]	z	the z value of a point

Returns: The index of the bin for the specified point

◆ bin_impl() [3/4]

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::bin_impl	(	const Index	xdx,
		const Index	ydx
	)		const

inlineprotected

Compose the provided index offsets.

◆ bin_impl() [4/4]

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::bin_impl	(	const Index	xdx,
		const Index	ydx,
		const Index	zdx
	)		const

inlineprotected

Compose the provided index offsets.

◆ bin_range()

template<typename Derived >

details::BinRange autoware::common::geometry::spatial_hash::Config< Derived >::bin_range	(	const details::Index3 &	ref,
		const float	radius
	)		const

inline

Given a reference index triple, compute the first and last bin.

Parameters

[in]	ref	The reference index triple
[in]	radius	The allowable radius for any point in the reference bin to any point in the range

Returns: A pair where the first element is an index triple of the first bin, and the second element is an index triple for the last bin

◆ distance_squared()

template<typename Derived >

template<typename PointT >

float32_t autoware::common::geometry::spatial_hash::Config< Derived >::distance_squared	(	const float32_t	x,
		const float32_t	y,
		const float32_t	z,
		const PointT &	pt
	)		const

inline

Compute the squared distance between the two points.

Template Parameters

PointT A point type with float members x, y and z, or point adapters defined

Parameters

[in]	x	The x component of the first point
[in]	y	The y component of the first point
[in]	z	The z component of the first point
[in]	pt	The other point being compared

Returns: The squared distance between the points (2d or 3d)

◆ get_capacity()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::get_capacity ( ) const

inline

Get the maximum capacity of the spatial hash.

Returns: The capacity

◆ idx_distance()

template<typename Derived >

float32_t autoware::common::geometry::spatial_hash::Config< Derived >::idx_distance	(	const Index	ref_idx,
		const Index	query_idx
	)		const

inlineprotected

The distance between two indices as a float, where adjacent indices have zero distance (e.g. dist(0, 1) = 0)

Not using fabs because Index is (possibly) unsigned

◆ index()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::index ( const details::Index3 & idx ) const

inline

Compute the composed single index given a decomposed index.

Parameters

[in] idx A decomposed index triple for a bin

Returns: The composed bin index

◆ index3()

template<typename Derived >

details::Index3 autoware::common::geometry::spatial_hash::Config< Derived >::index3	(	const float32_t	x,
		const float32_t	y,
		const float32_t	z
	)		const

inline

Compute the decomposed index given a point.

Parameters

[in]	x	The x component of the point
[in]	y	The y component of the point
[in]	z	The z component of the point

Returns: The decomposed index triple of the bin for the given point

◆ is_candidate_bin()

template<typename Derived >

bool autoware::common::geometry::spatial_hash::Config< Derived >::is_candidate_bin	(	const details::Index3 &	ref,
		const details::Index3 &	query,
		const float	ref_distance2
	)		const

inline

Compute whether the query bin and reference bin could possibly contain a pair of points such that their distance is within a certain threshold.

Parameters

[in]	ref	The index triple of the bin containing the reference point
[in]	query	The index triple of the bin being queried
[in]	ref_distance2	The squared threshold distance

Returns: True if query and ref could possibly hold points within reference distance to one another

◆ next_bin()

template<typename Derived >

bool8_t autoware::common::geometry::spatial_hash::Config< Derived >::next_bin	(	const details::BinRange &	range,
		details::Index3 &	idx
	)		const

inline

Get next index within a given range.

Returns: True if idx is valid and still in range

Parameters

[in]	range	The max and min bin indices
[in,out]	idx	The index to be incremented, updated even if a negative result occurs

◆ radius2()

template<typename Derived >

float32_t autoware::common::geometry::spatial_hash::Config< Derived >::radius2 ( ) const

inline

Getter for the side length, equivalently the lookup radius.

◆ side_length2()

template<typename Derived >

float autoware::common::geometry::spatial_hash::Config< Derived >::side_length2 ( ) const

inlineprotected

Get side length squared.

◆ x_index()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::x_index ( const float32_t x ) const

inlineprotected

Computes the index in the x basis direction.

Parameters

[in] x The x value of a point

Returns: The x offset of the index

◆ y_index()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::y_index ( const float32_t y ) const

inlineprotected

Computes the index in the y basis direction.

Parameters

[in] y The y value of a point

Returns: The x offset of the index

◆ z_index()

template<typename Derived >

Index autoware::common::geometry::spatial_hash::Config< Derived >::z_index ( const float32_t z ) const

inlineprotected

Computes the index in the z basis direction.

Parameters

[in] z The z value of a point

Returns: The x offset of the index

The documentation for this class was generated from the following file:

spatial_hash_config.hpp

Public Member Functions

Protected Member Functions

Detailed Description

template<typename Derived> class autoware::common::geometry::spatial_hash::Config< Derived >

Constructor & Destructor Documentation

◆ Config()

Member Function Documentation

◆ bin()

◆ bin_impl() [1/4]

◆ bin_impl() [2/4]

◆ bin_impl() [3/4]

◆ bin_impl() [4/4]

◆ bin_range()

◆ distance_squared()

◆ get_capacity()

◆ idx_distance()

◆ index()

◆ index3()

◆ is_candidate_bin()

◆ next_bin()

◆ radius2()

◆ side_length2()

◆ x_index()

◆ y_index()

◆ z_index()

template<typename Derived>
class autoware::common::geometry::spatial_hash::Config< Derived >