#include <ndt_voxel_view.hpp>

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

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

Public Types
using	Point = Eigen::Vector3d

using	Cov = Eigen::Matrix3d

Public Member Functions
	VoxelViewBase (const VoxelT &vx)

const Point &	centroid () const

const Cov &	inverse_covariance () const

bool8_t	usable () const noexcept

const VoxelT &	get () const noexcept

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

Derived &	impl ()

Detailed Description

template<typename VoxelT, typename Derived>
class autoware::localization::ndt::VoxelViewBase< VoxelT, Derived >

Base CRTP interface for the voxel view. It assumes a cached centroid and inverse covariance are provided by the implementation. This interface does not contain a covariance access function as it's not directly needed for the gaussian term shared in ndt optimization problems. It should be noted that, as this is purely a view of an existing voxel, it should not outlive the voxel it is referring to.

Template Parameters

VoxelT	Type of voxel to view.
Derived	Implementation. Expected to be of `type VoxelView<VoxelT>`.