Autoware.Auto
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#include <ndt_voxel.hpp>
Public Types | |
using | Point = Eigen::Vector3d |
using | Cov = Eigen::Matrix3d |
Public Member Functions | |
StaticNDTVoxel () | |
Initialize an empty voxel. More... | |
StaticNDTVoxel (const Point ¢roid, const Cov &inv_covariance) | |
Cov | covariance () const |
const Point & | centroid () const |
const Cov & | inverse_covariance () const |
bool8_t | usable () const noexcept |
Static Voxel implementation for the NDT map. A static voxel is used to represent a pre-computed ndt cell, hence it doesn't contain any logic for updating its states.
using autoware::localization::ndt::StaticNDTVoxel::Cov = Eigen::Matrix3d |
using autoware::localization::ndt::StaticNDTVoxel::Point = Eigen::Vector3d |
autoware::localization::ndt::StaticNDTVoxel::StaticNDTVoxel | ( | ) |
Initialize an empty voxel.
autoware::localization::ndt::StaticNDTVoxel::StaticNDTVoxel | ( | const Point & | centroid, |
const Cov & | inv_covariance | ||
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Initialize a voxel given the centroid and the covariance.
centroid | Centroid of the voxel. |
inv_covariance | Covariance of the voxel. |
const Eigen::Vector3d & autoware::localization::ndt::StaticNDTVoxel::centroid | ( | ) | const |
Returns the mean of the points in the cell. Throw if voxel is empty.
Eigen::Matrix3d autoware::localization::ndt::StaticNDTVoxel::covariance | ( | ) | const |
Calculates and returns the covariance of the points in the voxel. Throw if voxel is empty.
const Eigen::Matrix3d & autoware::localization::ndt::StaticNDTVoxel::inverse_covariance | ( | ) | const |
Returns the inverse covariance of the points in the voxel. Throw if voxel is empty.
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noexcept |
Check if the cell is occupied and can be used in ndt matching