voxel.hpp

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// Copyright 2017-2018 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
 
#ifndef VOXEL_GRID__VOXEL_HPP_
#define VOXEL_GRID__VOXEL_HPP_
 
 
#include <voxel_grid/visibility_control.hpp>
 
namespace autoware
{
namespace perception
{
namespace filters
{
namespace voxel_grid
{
 
template<typename PointT>
class VOXEL_GRID_PUBLIC Voxel
{
public:
  using point_t = PointT;
  Voxel()
  : m_num_points{0U}
  {
  }
  explicit Voxel(const PointT & pt)
  : m_num_points(1U),
    m_centroid(pt)
  {
  }
  explicit operator bool() const
  {
    return occupied();
  }
  explicit operator PointT() const
  {
    return get();
  }
 
  bool occupied() const
  {
    return count() > 0U;
  }
 
  void clear()
  {
    m_num_points = 0U;
  }
 
  const PointT & get() const
  {
    if (!occupied()) {
      throw std::out_of_range("Voxel: Cannot get point from an unoccupied voxel");
    }
    return m_centroid;
  }
 
  uint32_t count() const
  {
    return m_num_points;
  }
 
protected:
  void set_count(const uint32_t next)
  {
    m_num_points = next;
  }
 
  void set_centroid(const PointT & pt)
  {
    m_centroid = pt;
  }
 
private:
  // TODO(c.ho) static_assert for better error messages
  uint32_t m_num_points;
  PointT m_centroid;
};  // class Voxel
}  // namespace voxel_grid
}  // namespace filters
}  // namespace perception
}  // namespace autoware
 
#endif  // VOXEL_GRID__VOXEL_HPP_