autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT > Class Template Reference

#include <ndt_scan.hpp>

Inheritance diagram for autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >:

Collaboration diagram for autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >:

Public Types
using	Point = NDTUnit
using	TimePoint = std::chrono::system_clock::time_point

Public Member Functions
IteratorT	begin () const
IteratorT	end () const
void	clear ()
	Clear the states and the internal cache of the scan. More...
bool8_t	empty ()
void	insert (const sensor_msgs::msg::PointCloud2 &msg)
std::size_t	size () const
TimePoint	stamp ()

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

Detailed Description

template<typename Derived, typename NDTUnit, typename IteratorT>
class autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >

CRTP Base class defining the required minimal API of an NDTScan.

Template Parameters

Derived	Derived class
NDTUnit	The unit representing a single element within the scan.
IteratorT	The type of iterator to iterate the scan.

Member Typedef Documentation

Point

template<typename Derived , typename NDTUnit , typename IteratorT >

using autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::Point = NDTUnit

TimePoint

template<typename Derived , typename NDTUnit , typename IteratorT >

using autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::TimePoint = std::chrono::system_clock::time_point

Member Function Documentation

begin()

template<typename Derived , typename NDTUnit , typename IteratorT >

IteratorT autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::begin ( ) const

inline

Get iterator pointing to the beginning of the internal container.

Returns

Begin iterator.

clear()

template<typename Derived , typename NDTUnit , typename IteratorT >

void autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::clear ( )

inline

Clear the states and the internal cache of the scan.

empty()

template<typename Derived , typename NDTUnit , typename IteratorT >

bool8_t autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::empty ( )

inline

Check if there is any data in the scan.

Returns

True if the internal container is empty.

end()

template<typename Derived , typename NDTUnit , typename IteratorT >

IteratorT autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::end ( ) const

inline

Get iterator pointing to the end of the internal container.

Returns

End iterator.

insert()

template<typename Derived , typename NDTUnit , typename IteratorT >

void autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::insert ( const sensor_msgs::msg::PointCloud2 &  msg )

inline

Insert a point cloud into the NDTScan. This is the step where the pointcloud is converted into the ndt scan representation.

Parameters

msg	Point cloud to insert.

size()

template<typename Derived , typename NDTUnit , typename IteratorT >

std::size_t autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::size ( ) const

inline

Number of points inside the scan.

Returns

Number of points

stamp()

template<typename Derived , typename NDTUnit , typename IteratorT >

TimePoint autoware::localization::ndt::NDTScanBase< Derived, NDTUnit, IteratorT >::stamp ( )

inline

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

• ndt_scan.hpp