Autoware.Auto
autoware::perception::filters::voxel_grid Namespace Reference

Resources relating to the voxel grid package. More...

Classes

class  ApproximateVoxel
 A specialization of the Voxel class, only returns centroid of voxel. More...
 
class  CentroidVoxel
 A specialization of the Voxel class, accumulates points to a moving centroid. More...
 
class  Config
 A configuration class for the VoxelGrid data structure, also includes some helper functionality for computing indices and centroids of voxels. More...
 
class  Voxel
 A simple class to accumulate points for a voxel and emit the centroid. More...
 
class  VoxelGrid
 A voxel grid data structure for downsampling point clouds. More...
 

Typedefs

using PointXYZ = geometry_msgs::msg::Point32
 

Functions

template<typename T >
clamp (const T val, const T min, const T max)
 
template<typename PointT >
VOXEL_GRID_PUBLIC PointT operator+ (const PointT &lhs, const PointT &rhs)
 Default addition operator for a point type for use with CentroidVoxel. More...
 
template<typename PointT >
VOXEL_GRID_PUBLIC PointT operator* (const PointT &lhs, const float32_t rhs)
 Default scalar multiplication operator for a point type for use with CentroidVoxel. More...
 
template<>
VOXEL_GRID_PUBLIC PointXYZIF operator+ (const PointXYZIF &lhs, const PointXYZIF &rhs)
 Addition operator for a PointXYZIF for use with CentroidVoxel. More...
 
template<>
VOXEL_GRID_PUBLIC PointXYZIF operator* (const PointXYZIF &lhs, const float32_t rhs)
 Scalar multiplication operator for a PointXYZIF for use with CentroidVoxel. More...
 

Detailed Description

Resources relating to the voxel grid package.

Typedef Documentation

◆ PointXYZ

using autoware::perception::filters::voxel_grid::PointXYZ = typedef geometry_msgs::msg::Point32

Function Documentation

◆ clamp()

template<typename T >
T autoware::perception::filters::voxel_grid::clamp ( const T  val,
const T  min,
const T  max 
)
inline

◆ operator*() [1/2]

template<typename PointT >
VOXEL_GRID_PUBLIC PointT autoware::perception::filters::voxel_grid::operator* ( const PointT &  lhs,
const float32_t  rhs 
)

Default scalar multiplication operator for a point type for use with CentroidVoxel.

Template Parameters
PointTPoint type, assumed to have fields x, y, and z
Parameters
[in]lhsLeft hand operator
[in]rhsRight hand operator, a floating point value
Returns
lhs * rhs

◆ operator*() [2/2]

template<>
VOXEL_GRID_PUBLIC PointXYZIF autoware::perception::filters::voxel_grid::operator* ( const PointXYZIF lhs,
const float32_t  rhs 
)
inline

Scalar multiplication operator for a PointXYZIF for use with CentroidVoxel.

Parameters
[in]lhsLeft hand operator
[in]rhsRight hand operator, a floating point value
Returns
lhs * rhs

◆ operator+() [1/2]

template<typename PointT >
VOXEL_GRID_PUBLIC PointT autoware::perception::filters::voxel_grid::operator+ ( const PointT &  lhs,
const PointT &  rhs 
)

Default addition operator for a point type for use with CentroidVoxel.

Template Parameters
PointTPoint type, assumed to have fields x, y, and z
Parameters
[in]lhsLeft hand operator
[in]rhsRight hand operator
Returns
lhs + rhs

◆ operator+() [2/2]

template<>
VOXEL_GRID_PUBLIC PointXYZIF autoware::perception::filters::voxel_grid::operator+ ( const PointXYZIF lhs,
const PointXYZIF rhs 
)
inline

Addition operator for a PointXYZIF for use with CentroidVoxel.

Parameters
[in]lhsLeft hand operator
[in]rhsRight hand operator
Returns
lhs + rhs