#include <ndt_map.hpp>

Inheritance diagram for autoware::localization::ndt::StaticNDTMap:

Collaboration diagram for autoware::localization::ndt::StaticNDTMap:

Public Types
using	Voxel = StaticNDTVoxel

Public Types inherited from autoware::localization::ndt::NDTMapBase< StaticNDTMap, StaticNDTVoxel >
using	Grid = std::unordered_map< uint64_t, StaticNDTVoxel >

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< StaticNDTVoxel > >

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< StaticNDTMap, StaticNDTVoxel >
	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< StaticNDTMap, StaticNDTVoxel >
auto	index (const Point &pt) const

StaticNDTVoxel &	voxel (uint64_t idx)

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

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

StaticNDTMap &	impl ()

Detailed Description

NDT map using StaticNDTVoxels. This class is to be used when the pointcloud messages to be inserted already have the correct format (see validate_pcl_map(...)) and represent a transformed map. No centroid/covariance computation is done during run-time.

Member Typedef Documentation

◆ Voxel

using autoware::localization::ndt::StaticNDTMap::Voxel = StaticNDTVoxel

Member Function Documentation

◆ insert_()

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

inline

Insert point cloud message representing the map to the map representation instance. Map is assumed to have correct format (see validate_pcl_map(...)) and was generated by a dense map representation with identical configuration to this representation.

Parameters

msg PointCloud2 message to add. Each point in this cloud should correspond to a single voxel in the underlying voxel grid. This is checked via the cell_id field in the pcl message which is expected to be equal to the voxel grid ID in the map's voxel grid. Since the grid's index will be a long value to avoid overflows, cell_id field should be an array of 2 unsigned integers. That is because there is no direct long support as a PointField.