#include <ndt_voxel.hpp>

Public Types
using	Point = Eigen::Vector3d

using	Cov = Eigen::Matrix3d

Public Member Functions
	StaticNDTVoxel ()
	Initialize an empty voxel. More...

	StaticNDTVoxel (const Point &centroid, const Cov &inv_covariance)

Cov	covariance () const

const Point &	centroid () const

const Cov &	inverse_covariance () const

bool8_t	usable () const noexcept

Detailed Description

Static Voxel implementation for the NDT map. A static voxel is used to represent a pre-computed ndt cell, hence it doesn't contain any logic for updating its states.

Member Typedef Documentation

◆ Cov

using autoware::localization::ndt::StaticNDTVoxel::Cov = Eigen::Matrix3d

◆ Point

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

Constructor & Destructor Documentation

◆ StaticNDTVoxel() [1/2]

autoware::localization::ndt::StaticNDTVoxel::StaticNDTVoxel ( )

Initialize an empty voxel.

◆ StaticNDTVoxel() [2/2]

autoware::localization::ndt::StaticNDTVoxel::StaticNDTVoxel	(	const Point &	centroid,
		const Cov &	inv_covariance
	)

Initialize a voxel given the centroid and the covariance.

Parameters

centroid	Centroid of the voxel.
inv_covariance	Covariance of the voxel.

Member Function Documentation

◆ centroid()

const Eigen::Vector3d & autoware::localization::ndt::StaticNDTVoxel::centroid ( ) const

Returns the mean of the points in the cell. Throw if voxel is empty.

Returns: centroid of the cell

◆ covariance()

Eigen::Matrix3d autoware::localization::ndt::StaticNDTVoxel::covariance ( ) const

Calculates and returns the covariance of the points in the voxel. Throw if voxel is empty.

Returns: covariance of the cell

◆ inverse_covariance()

const Eigen::Matrix3d & autoware::localization::ndt::StaticNDTVoxel::inverse_covariance ( ) const

Returns the inverse covariance of the points in the voxel. Throw if voxel is empty.

Returns: inverse covariance of the cell

◆ usable()

bool8_t autoware::localization::ndt::StaticNDTVoxel::usable ( ) const

noexcept

Check if the cell is occupied and can be used in ndt matching

Returns: True if cell is occupied

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

Public Types

Public Member Functions