autoware::localization::ndt::DynamicNDTMap Class Reference

#include <ndt_map.hpp>

Inheritance diagram for autoware::localization::ndt::DynamicNDTMap:

Collaboration diagram for autoware::localization::ndt::DynamicNDTMap:

Public Types
using	Voxel = DynamicNDTVoxel
using	Grid = std::unordered_map< uint64_t, Voxel >
using	Config = autoware::perception::filters::voxel_grid::Config
using	Point = Eigen::Vector3d
Public Types inherited from autoware::localization::ndt::NDTMapBase< DynamicNDTMap, DynamicNDTVoxel >
using	Grid = std::unordered_map< uint64_t, DynamicNDTVoxel >
using	Point = Eigen::Vector3d
using	Config = autoware::perception::filters::voxel_grid::Config
using	TimePoint = std::chrono::system_clock::time_point
using	VoxelViewVector = std::vector< VoxelView< DynamicNDTVoxel > >

Public Member Functions
void	insert_ (const sensor_msgs::msg::PointCloud2 &msg)
	NDTMapBase (const Config &voxel_grid_config)
	NDTMapBase (const NDTMapBase &)=delete
	NDTMapBase (NDTMapBase &&)=default
Public Member Functions inherited from autoware::localization::ndt::NDTMapBase< DynamicNDTMap, DynamicNDTVoxel >
	NDTMapBase (const Config &voxel_grid_config)
	NDTMapBase (const NDTMapBase &)=delete
	NDTMapBase (NDTMapBase &&)=default
NDTMapBase &	operator= (const NDTMapBase &)=delete
NDTMapBase &	operator= (NDTMapBase &&)=default
const VoxelViewVector &	cell (float32_t x, float32_t y, float32_t z) const
const VoxelViewVector &	cell (const Point &pt) const
void	insert (const sensor_msgs::msg::PointCloud2 &msg)
uint64_t	size () const noexcept
auto	cell_size () const noexcept
Grid::const_iterator	begin () const noexcept
	Returns an const iterator to the first element of the map. More...
Grid::iterator	begin () noexcept
	Returns an iterator to the first element of the map. More...
Grid::const_iterator	cbegin () const noexcept
	Returns a const iterator to the first element of the map. More...
Grid::const_iterator	end () const noexcept
	Returns a const iterator to one past the last element of the map. More...
Grid::iterator	end () noexcept
	Returns an iterator to one past the last element of the map. More...
Grid::const_iterator	cend () const noexcept
	Returns a const iterator to one past the last element of the map. More...
void	clear () noexcept
	Clear all voxels in the map. More...
TimePoint	stamp () const noexcept
const std::string &	frame_id () const noexcept

Additional Inherited Members
Protected Member Functions inherited from autoware::localization::ndt::NDTMapBase< DynamicNDTMap, DynamicNDTVoxel >
auto	index (const Point &pt) const
DynamicNDTVoxel &	voxel (uint64_t idx)
auto	emplace (uint64_t key, const DynamicNDTVoxel &&vx)
Protected Member Functions inherited from autoware::common::helper_functions::crtp< DynamicNDTMap >
const DynamicNDTMap &	impl () const
DynamicNDTMap &	impl ()

Detailed Description

Ndt Map for a dynamic voxel type. This map representation is only to be used when a dense point cloud is intended to be represented as a map. (i.e. by the map publisher)

Member Typedef Documentation

Config

using autoware::localization::ndt::DynamicNDTMap::Config = autoware::perception::filters::voxel_grid::Config

Grid

using autoware::localization::ndt::DynamicNDTMap::Grid = std::unordered_map<uint64_t, Voxel>

Point

using autoware::localization::ndt::DynamicNDTMap::Point = Eigen::Vector3d

Voxel

using autoware::localization::ndt::DynamicNDTMap::Voxel = DynamicNDTVoxel

Member Function Documentation

insert_()

void autoware::localization::ndt::DynamicNDTMap::insert_ ( const sensor_msgs::msg::PointCloud2 &  msg )

inline

Insert the dense point cloud to the map. This is intended for converting a dense point cloud into the ndt representation. Ideal for reading dense pcd files.

Parameters

msg	PointCloud2 message to add.

NDTMapBase() [1/3]

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase

inlineexplicit

Constructor

Parameters

voxel_grid_config

Voxel grid config to configure the underlying voxel grid.

NDTMapBase() [2/3]

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase

delete

NDTMapBase() [3/3]

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase

default

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

• ndt_map.hpp