#include <ndt_map.hpp>

Inheritance diagram for autoware::localization::ndt::NDTMapBase< Derived, VoxelT >:

Collaboration diagram for autoware::localization::ndt::NDTMapBase< Derived, VoxelT >:

Public Types
using	Grid = std::unordered_map< uint64_t, VoxelT >

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< VoxelT > >

Public Member Functions
	NDTMapBase (const Config &voxel_grid_config)

	NDTMapBase (const NDTMapBase &)=delete

NDTMapBase &	operator= (const NDTMapBase &)=delete

	NDTMapBase (NDTMapBase &&)=default

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

Protected Member Functions
auto	index (const Point &pt) const

VoxelT &	voxel (uint64_t idx)

auto	emplace (uint64_t key, const VoxelT &&vx)

Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived &	impl () const

Derived &	impl ()

Member Typedef Documentation

◆ Config

template<typename Derived , typename VoxelT >

using autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::Config = autoware::perception::filters::voxel_grid::Config

◆ Grid

template<typename Derived , typename VoxelT >

using autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::Grid = std::unordered_map<uint64_t, VoxelT>

◆ Point

template<typename Derived , typename VoxelT >

using autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::Point = Eigen::Vector3d

◆ TimePoint

template<typename Derived , typename VoxelT >

using autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::TimePoint = std::chrono::system_clock::time_point

◆ VoxelViewVector

template<typename Derived , typename VoxelT >

using autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::VoxelViewVector = std::vector<VoxelView<VoxelT> >

Constructor & Destructor Documentation

◆ NDTMapBase() [1/3]

template<typename Derived , typename VoxelT >

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase ( const Config & voxel_grid_config )

inlineexplicit

Constructor

Parameters

voxel_grid_config Voxel grid config to configure the underlying voxel grid.

◆ NDTMapBase() [2/3]

template<typename Derived , typename VoxelT >

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase ( const NDTMapBase< Derived, VoxelT > & )

delete

◆ NDTMapBase() [3/3]

template<typename Derived , typename VoxelT >

autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::NDTMapBase ( NDTMapBase< Derived, VoxelT > && )

default

Member Function Documentation

◆ begin() [1/2]

template<typename Derived , typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::begin ( ) const

inlinenoexcept

Returns an const iterator to the first element of the map.

Returns: Iterator

◆ begin() [2/2]

template<typename Derived , typename VoxelT >

Grid::iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::begin ( )

inlinenoexcept

Returns an iterator to the first element of the map.

Returns: Iterator

◆ cbegin()

template<typename Derived , typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::cbegin ( ) const

inlinenoexcept

Returns a const iterator to the first element of the map.

Returns: Iterator

◆ cell() [1/2]

template<typename Derived , typename VoxelT >

const VoxelViewVector& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::cell ( const Point & pt ) const

inline

Lookup the cell at location.

Parameters

pt	point to lookup

Returns: A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

◆ cell() [2/2]

template<typename Derived , typename VoxelT >

const VoxelViewVector& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::cell	(	float32_t	x,
		float32_t	y,
		float32_t	z
	)		const

inline

Lookup the cell at location.

Parameters

x	x coordinate
y	y coordinate
z	z coordinate

Returns: A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

◆ cell_size()

template<typename Derived , typename VoxelT >

auto autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::cell_size ( ) const

inlinenoexcept

Get size of the cell.

Returns: A point representing the dimensions of the cell.

◆ cend()

template<typename Derived , typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::cend ( ) const

inlinenoexcept

Returns a const iterator to one past the last element of the map.

Returns: Iterator

◆ clear()

template<typename Derived , typename VoxelT >

void autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::clear ( )

inlinenoexcept

Clear all voxels in the map.

◆ emplace()

template<typename Derived , typename VoxelT >

auto autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::emplace	(	uint64_t	key,
		const VoxelT &&	vx
	)

inlineprotected

◆ end() [1/2]

template<typename Derived , typename VoxelT >

Grid::const_iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::end ( ) const

inlinenoexcept

Returns a const iterator to one past the last element of the map.

Returns: Iterator

◆ end() [2/2]

template<typename Derived , typename VoxelT >

Grid::iterator autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::end ( )

inlinenoexcept

Returns an iterator to one past the last element of the map.

Returns: Iterator

◆ frame_id()

template<typename Derived , typename VoxelT >

const std::string& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::frame_id ( ) const

inlinenoexcept

Get map's frame id.

Returns: Frame id of the map.

◆ index()

template<typename Derived , typename VoxelT >

auto autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::index ( const Point & pt ) const

inlineprotected

Get voxel index given a point.

Parameters

pt point

Returns: voxel index

◆ insert()

template<typename Derived , typename VoxelT >

void autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::insert ( const sensor_msgs::msg::PointCloud2 & msg )

inline

Insert a point cloud to the map.

Parameters

msg	PointCloud2 message to add.

◆ operator=() [1/2]

template<typename Derived , typename VoxelT >

NDTMapBase& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::operator= ( const NDTMapBase< Derived, VoxelT > & )

delete

◆ operator=() [2/2]

template<typename Derived , typename VoxelT >

NDTMapBase& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::operator= ( NDTMapBase< Derived, VoxelT > && )

default

◆ size()

template<typename Derived , typename VoxelT >

uint64_t autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::size ( ) const

inlinenoexcept

Get size of the map

Returns: Number of voxels in the map. This number includes the voxels that do not have enough numbers to be used yet.

◆ stamp()

template<typename Derived , typename VoxelT >

TimePoint autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::stamp ( ) const

inlinenoexcept

Get map's time stamp.

Returns: map's time stamp.

◆ voxel()

template<typename Derived , typename VoxelT >

VoxelT& autoware::localization::ndt::NDTMapBase< Derived, VoxelT >::voxel ( uint64_t idx )

inlineprotected

Get a reference to the voxel at the given index. If no voxel exists, a default constructed Voxel is inserted.

Parameters

idx

Returns

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

ndt_map.hpp

Public Types

Public Member Functions

Protected Member Functions

Member Typedef Documentation

◆ Config

◆ Grid

◆ Point

◆ TimePoint

◆ VoxelViewVector

Constructor & Destructor Documentation

◆ NDTMapBase() [1/3]

◆ NDTMapBase() [2/3]

◆ NDTMapBase() [3/3]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cell() [1/2]

◆ cell() [2/2]

◆ cell_size()

◆ cend()

◆ clear()

◆ emplace()

◆ end() [1/2]

◆ end() [2/2]

◆ frame_id()

◆ index()

◆ insert()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ size()

◆ stamp()

◆ voxel()