Autoware.Auto
autoware::common::lidar_utils::AngleFilter Class Reference

Filter class to check if a point's azimuth lies within a range defined by a start and end angles. The range is defined from start to the end angles in counter-clock-wise direction. More...

#include <point_cloud_utils.hpp>

Collaboration diagram for autoware::common::lidar_utils::AngleFilter:

Public Types

using VectorT = autoware::common::types::PointXYZIF
 

Public Member Functions

 AngleFilter (float32_t start_angle, float32_t end_angle)
 Constructor. More...
 
template<typename T >
bool8_t operator() (const T &pt) const
 Check if a point's azimuth lies in the range [start, end] in counter-clock-wise-direction. The point is treated as a 2D vector whose projection on the range normal is compared to a threshold. More...
 

Static Public Attributes

static constexpr float32_t PI = 3.14159265359F
 
static constexpr auto FEPS = std::numeric_limits<float32_t>::epsilon() * 1e2F
 

Detailed Description

Filter class to check if a point's azimuth lies within a range defined by a start and end angles. The range is defined from start to the end angles in counter-clock-wise direction.

Member Typedef Documentation

◆ VectorT

Constructor & Destructor Documentation

◆ AngleFilter()

autoware::common::lidar_utils::AngleFilter::AngleFilter ( float32_t  start_angle,
float32_t  end_angle 
)

Constructor.

Parameters
start_angleMinimum angle in radians
end_angleMaximum angle in radians

Member Function Documentation

◆ operator()()

template<typename T >
bool8_t autoware::common::lidar_utils::AngleFilter::operator() ( const T &  pt) const
inline

Check if a point's azimuth lies in the range [start, end] in counter-clock-wise-direction. The point is treated as a 2D vector whose projection on the range normal is compared to a threshold.

Template Parameters
TPoint type
Parameters
ptpoint to check
Returns
return true if the point is contained within the range.

Member Data Documentation

◆ FEPS

constexpr auto autoware::common::lidar_utils::AngleFilter::FEPS = std::numeric_limits<float32_t>::epsilon() * 1e2F
staticconstexpr

◆ PI

constexpr float32_t autoware::common::lidar_utils::AngleFilter::PI = 3.14159265359F
staticconstexpr

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