autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase Class Reference

A pure interface meant for dynamically dispatching to different voxel grid instances at runtime. Specialized for PointCloud2 types. More...

#include <voxel_cloud_base.hpp>

Inheritance diagram for autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase:

Public Member Functions
virtual	~VoxelCloudBase ()
	Virtual destructor. More...
virtual void	insert (const sensor_msgs::msg::PointCloud2 &msg)=0
	Inserts points into the voxel grid data structure, overwrites internal header. More...
virtual const sensor_msgs::msg::PointCloud2 &	get ()=0
	Get accumulated downsampled points. Internally resets the internal grid. Header is taken from last insert. More...

Protected Types
using	PointXYZIF = autoware::perception::filters::voxel_grid::PointXYZIF

Detailed Description

A pure interface meant for dynamically dispatching to different voxel grid instances at runtime. Specialized for PointCloud2 types.

Member Typedef Documentation

PointXYZIF

using autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase::PointXYZIF = autoware::perception::filters::voxel_grid::PointXYZIF

protected

Constructor & Destructor Documentation

~VoxelCloudBase()

autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase::~VoxelCloudBase ( )

virtual

Virtual destructor.

Member Function Documentation

get()

virtual const sensor_msgs::msg::PointCloud2& autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase::get ( )

pure virtual

Get accumulated downsampled points. Internally resets the internal grid. Header is taken from last insert.

Returns

The downsampled point cloud

Implemented in autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate, and autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudCentroid.

insert()

virtual void autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase::insert ( const sensor_msgs::msg::PointCloud2 &  msg )

pure virtual

Inserts points into the voxel grid data structure, overwrites internal header.

Parameters

[in]

msg

A point cloud to insert into the voxel grid. Assumed to have the structure XYZI

Implemented in autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate, and autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudCentroid.

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

• voxel_cloud_base.hpp
• voxel_cloud_base.cpp