autoware::localization::ndt::NDTGrid< VoxelT

A voxel grid implementation for normal distribution transform. More...

#include <ndt_grid.hpp>

Public Types
using	Grid = std::unordered_map< uint64_t, VoxelT >

using	Point = Eigen::Vector3d

using	Config = autoware::perception::filters::voxel_grid::Config

using	VoxelViewVector = std::vector< VoxelView< VoxelT > >

using	ConfigPoint = std::decay_t< decltype(std::declval< Config >().get_min_point())>

Public Member Functions
	NDTGrid (const Config &voxel_grid_config)

	NDTGrid (const NDTGrid &)=delete

NDTGrid &	operator= (const NDTGrid &)=delete

	NDTGrid (NDTGrid &&)=default

NDTGrid &	operator= (NDTGrid &&)=default

const VoxelViewVector &	cell (float32_t x, float32_t y, float32_t z) const

const VoxelViewVector &	cell (const Point &pt) const

std::size_t	size () const noexcept

const ConfigPoint &	cell_size () const noexcept

Grid::const_iterator	begin () const noexcept
	Returns an const iterator to the first element of the map. More...

Grid::iterator	begin () noexcept
	Returns an iterator to the first element of the map. More...

Grid::const_iterator	cbegin () const noexcept
	Returns a const iterator to the first element of the map. More...

Grid::const_iterator	end () const noexcept
	Returns a const iterator to one past the last element of the map. More...

Grid::iterator	end () noexcept
	Returns an iterator to one past the last element of the map. More...

Grid::const_iterator	cend () const noexcept
	Returns a const iterator to one past the last element of the map. More...

void	clear () noexcept
	Clear all voxels in the map. More...

auto	index (const Point &pt) const

template<typename ... Args>
auto	emplace_voxel (Args &&... args)
	Emplace a new voxel into the grid. More...

void	add_observation (const Point &pt)
	Add a point to its corresponding voxel in the grid. More...

void	set_config (const Config &config)
	Set the configuration. More...

const Config &	config () const
	Get the underlying voxel grid configuration. More...

Detailed Description

template<typename VoxelT>
class autoware::localization::ndt::NDTGrid< VoxelT >

A voxel grid implementation for normal distribution transform.

Template Parameters

VoxelT Voxel type

Member Typedef Documentation

◆ Config

template<typename VoxelT >

using autoware::localization::ndt::NDTGrid< VoxelT >::Config = autoware::perception::filters::voxel_grid::Config

◆ ConfigPoint

template<typename VoxelT >

using autoware::localization::ndt::NDTGrid< VoxelT >::ConfigPoint = std::decay_t<decltype(std::declval<Config>().get_min_point())>

◆ Grid

template<typename VoxelT >

using autoware::localization::ndt::NDTGrid< VoxelT >::Grid = std::unordered_map<uint64_t, VoxelT>

◆ Point

template<typename VoxelT >

using autoware::localization::ndt::NDTGrid< VoxelT >::Point = Eigen::Vector3d

◆ VoxelViewVector

template<typename VoxelT >

using autoware::localization::ndt::NDTGrid< VoxelT >::VoxelViewVector = std::vector<VoxelView<VoxelT> >

Constructor & Destructor Documentation

◆ NDTGrid() [1/3]

template<typename VoxelT >

autoware::localization::ndt::NDTGrid< VoxelT >::NDTGrid ( const Config & voxel_grid_config )

inlineexplicit

Constructor

Parameters

voxel_grid_config Voxel grid config to configure the underlying voxel grid.

◆ NDTGrid() [2/3]

template<typename VoxelT >

autoware::localization::ndt::NDTGrid< VoxelT >::NDTGrid ( const NDTGrid< VoxelT > & )

delete

◆ NDTGrid() [3/3]

template<typename VoxelT >

autoware::localization::ndt::NDTGrid< VoxelT >::NDTGrid ( NDTGrid< VoxelT > && )

default

Member Function Documentation

◆ add_observation()

template<typename VoxelT >

void autoware::localization::ndt::NDTGrid< VoxelT >::add_observation ( const Point & pt )

inline

Add a point to its corresponding voxel in the grid.

Parameters

pt	Point to be added

◆ begin() [1/2]

template<typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTGrid< VoxelT >::begin ( ) const

inlinenoexcept

Returns an const iterator to the first element of the map.

Returns: Iterator

◆ begin() [2/2]

template<typename VoxelT >

Grid::iterator autoware::localization::ndt::NDTGrid< VoxelT >::begin ( )

inlinenoexcept

Returns an iterator to the first element of the map.

Returns: Iterator

◆ cbegin()

template<typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTGrid< VoxelT >::cbegin ( ) const

inlinenoexcept

Returns a const iterator to the first element of the map.

Returns: Iterator

◆ cell() [1/2]

template<typename VoxelT >

const VoxelViewVector& autoware::localization::ndt::NDTGrid< VoxelT >::cell ( const Point & pt ) const

inline

Lookup the cell at location.

Parameters

pt	point to lookup

Returns: A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

◆ cell() [2/2]

template<typename VoxelT >

const VoxelViewVector& autoware::localization::ndt::NDTGrid< VoxelT >::cell	(	float32_t	x,
		float32_t	y,
		float32_t	z
	)		const

inline

Lookup the cell at location.

Parameters

x	x coordinate
y	y coordinate
z	z coordinate

Returns: A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

◆ cell_size()

template<typename VoxelT >

const ConfigPoint& autoware::localization::ndt::NDTGrid< VoxelT >::cell_size ( ) const

inlinenoexcept

Get size of the cell.

Returns: A point representing the dimensions of the cell.

◆ cend()

template<typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTGrid< VoxelT >::cend ( ) const

inlinenoexcept

Returns a const iterator to one past the last element of the map.

Returns: Iterator

◆ clear()

template<typename VoxelT >

void autoware::localization::ndt::NDTGrid< VoxelT >::clear ( )

inlinenoexcept

Clear all voxels in the map.

◆ config()

template<typename VoxelT >

const Config& autoware::localization::ndt::NDTGrid< VoxelT >::config ( ) const

inline

Get the underlying voxel grid configuration.

Returns: Voxel grid configuration

◆ emplace_voxel()

template<typename VoxelT >

template<typename ... Args>

auto autoware::localization::ndt::NDTGrid< VoxelT >::emplace_voxel ( Args &&... args )

inline

Emplace a new voxel into the grid.

Parameters

args	Arguments. An index and a voxel is expected

Returns: See the return type of unordered_map::emplace().

◆ end() [1/2]

template<typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTGrid< VoxelT >::end ( ) const

inlinenoexcept

Returns a const iterator to one past the last element of the map.

Returns: Iterator

◆ end() [2/2]

template<typename VoxelT >

Grid::iterator autoware::localization::ndt::NDTGrid< VoxelT >::end ( )

inlinenoexcept

Returns an iterator to one past the last element of the map.

Returns: Iterator

◆ index()

template<typename VoxelT >

auto autoware::localization::ndt::NDTGrid< VoxelT >::index ( const Point & pt ) const

inline

Get voxel index given a point.

Parameters

pt point

Returns: voxel index

◆ operator=() [1/2]

template<typename VoxelT >

NDTGrid& autoware::localization::ndt::NDTGrid< VoxelT >::operator= ( const NDTGrid< VoxelT > & )

delete

◆ operator=() [2/2]

template<typename VoxelT >

NDTGrid& autoware::localization::ndt::NDTGrid< VoxelT >::operator= ( NDTGrid< VoxelT > && )

default

◆ set_config()

template<typename VoxelT >

void autoware::localization::ndt::NDTGrid< VoxelT >::set_config ( const Config & config )

inline

Set the configuration.

Parameters

config Config object to be set.

◆ size()

template<typename VoxelT >

std::size_t autoware::localization::ndt::NDTGrid< VoxelT >::size ( ) const

inlinenoexcept

Get size of the map

Returns: Number of voxels in the map. This number includes the voxels that do not have enough numbers to be used yet.

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

ndt_grid.hpp

Public Types

Public Member Functions

Detailed Description

template<typename VoxelT> class autoware::localization::ndt::NDTGrid< VoxelT >

Member Typedef Documentation

◆ Config

◆ ConfigPoint

◆ Grid

◆ Point

◆ VoxelViewVector

Constructor & Destructor Documentation

◆ NDTGrid() [1/3]

◆ NDTGrid() [2/3]

◆ NDTGrid() [3/3]

Member Function Documentation

◆ add_observation()

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cell() [1/2]

◆ cell() [2/2]

◆ cell_size()

◆ cend()

◆ clear()

◆ config()

◆ emplace_voxel()

◆ end() [1/2]

◆ end() [2/2]

◆ index()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_config()

◆ size()

template<typename VoxelT>
class autoware::localization::ndt::NDTGrid< VoxelT >