autoware::common::geometry::spatial_hash::Config3d Class Reference

Configuration class for a 3d spatial hash. More...

#include <spatial_hash_config.hpp>

Inheritance diagram for autoware::common::geometry::spatial_hash::Config3d:

Collaboration diagram for autoware::common::geometry::spatial_hash::Config3d:

Public Member Functions
	Config3d (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)
	Config constructor for a 3d spatial hash. More...

Index	bin_ (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, 3d implementation. More...

bool	valid (const details::Index3 &ref, const details::Index3 &query, const float ref_distance2) const
	Determine if a bin could possibly hold a point within a distance to any point in a reference bin for the 3D case. More...

details::Index3	index3_ (const float32_t x, const float32_t y, const float32_t z) const
	Compute the decomposed index given a point, 3d implementation. More...

Index	index_ (const details::Index3 &idx) const
	Compute the composed single index given a decomposed index, 3d implementation. 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, 3d implementation. More...

Public Member Functions inherited from autoware::common::geometry::spatial_hash::Config< Config3d >
	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...

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...

Additional Inherited Members
Protected Member Functions inherited from autoware::common::geometry::spatial_hash::Config< Config3d >
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< Config3d >
const Config3d &	impl () const

Config3d &	impl ()

Detailed Description

Configuration class for a 3d spatial hash.

Constructor & Destructor Documentation

◆ Config3d()

autoware::common::geometry::spatial_hash::Config3d::Config3d	(	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
	)

Config constructor for a 3d 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 lookup distance
[in]	capacity	The maximum number of points the spatial hash can store

Member Function Documentation

◆ bin_()

Index autoware::common::geometry::spatial_hash::Config3d::bin_	(	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, 3d implementation.

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

◆ distance_squared_()

template<typename PointT >

float32_t autoware::common::geometry::spatial_hash::Config3d::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, 3d implementation.

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 (3d)

◆ index3_()

details::Index3 autoware::common::geometry::spatial_hash::Config3d::index3_	(	const float32_t	x,
		const float32_t	y,
		const float32_t	z
	)		const

Compute the decomposed index given a point, 3d implementation.

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

◆ index_()

Index autoware::common::geometry::spatial_hash::Config3d::index_ ( const details::Index3 & idx ) const

Compute the composed single index given a decomposed index, 3d implementation.

Parameters

[in] idx A decomposed index triple for a bin

Returns: The composed bin index

◆ valid()

bool autoware::common::geometry::spatial_hash::Config3d::valid	(	const details::Index3 &	ref,
		const details::Index3 &	query,
		const float	ref_distance2
	)		const

Determine if a bin could possibly hold a point within a distance to any point in a reference bin for the 3D case.

Parameters

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

Returns: True if the reference bin and query bin could possibly hold a point within the reference distance

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Config3d()

Member Function Documentation

◆ bin_()

◆ distance_squared_()

◆ index3_()

◆ index_()

◆ valid()