Autoware.Auto
voxel_cloud_approximate.hpp
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1 // Copyright 2017-2019 the Autoware Foundation
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 //    http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 //
15 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
16 
19 #ifndef VOXEL_GRID_NODES__ALGORITHM__VOXEL_CLOUD_APPROXIMATE_HPP_
20 #define VOXEL_GRID_NODES__ALGORITHM__VOXEL_CLOUD_APPROXIMATE_HPP_
21 
23 
24 namespace autoware
25 {
26 namespace perception
27 {
28 namespace filters
29 {
30 namespace voxel_grid_nodes
31 {
32 namespace algorithm
33 {
35 class VOXEL_GRID_NODES_PUBLIC VoxelCloudApproximate : public VoxelCloudBase
36 {
37 public:
40  explicit VoxelCloudApproximate(const voxel_grid::Config & cfg);
41 
44  void insert(const sensor_msgs::msg::PointCloud2 & msg) override;
45 
49  const sensor_msgs::msg::PointCloud2 & get() override;
50 
51 private:
54 }; // VoxelCloudApproximate
55 } // namespace algorithm
56 } // namespace voxel_grid_nodes
57 } // namespace filters
58 } // namespace perception
59 } // namespace autoware
60 
61 #endif // VOXEL_GRID_NODES__ALGORITHM__VOXEL_CLOUD_APPROXIMATE_HPP_
autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase
A pure interface meant for dynamically dispatching to different voxel grid instances at runtime....
Definition: voxel_cloud_base.hpp:42
autoware
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
voxel_cloud_base.hpp
This file defines the algorithmic interface for applying voxel grid downsampling to a PointCloud2 mes...
autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate
Instantiation of PointCloud2 VoxelCloudBase for ApproximateVoxels.
Definition: voxel_cloud_approximate.hpp:35
autoware::perception::filters::voxel_grid::Config
A configuration class for the VoxelGrid data structure, also includes some helper functionality for c...
Definition: perception/filters/voxel_grid/include/voxel_grid/config.hpp:52
autoware::perception::filters::filter_node_base::PointCloud2
sensor_msgs::msg::PointCloud2 PointCloud2
Definition: filter_node_base.cpp:32
autoware::perception::filters::voxel_grid::VoxelGrid
A voxel grid data structure for downsampling point clouds.
Definition: voxel_grid.hpp:44