autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT > Class Template Reference

#include <map.hpp>

Public Types
using	Increment = IncrementT

Public Member Functions
virtual MapUpdateSummary	try_add_observation (const IncrementT &observation, const geometry_msgs::msg::PoseWithCovarianceStamped &pose)=0
virtual void	write (const std::string &file_name_prefix) const =0
virtual std::size_t	size () const noexcept=0
virtual std::size_t	capacity () const noexcept=0
virtual	~MapRepresentationBase ()=default
virtual void	clear ()=0
	Clear the map. More...

Static Public Member Functions
static constexpr MapStorageMode	storage_mode () noexcept

Detailed Description

template<typename IncrementT, MapStorageMode StorageModeT>
class autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >

Virtual base class of a map to be used for mapping. The map should provide the following functionality: observe new data, extend itself and export itself.

Template Parameters

IncrementT

Type of increment that is used to extend the map.

Member Typedef Documentation

Increment

template<typename IncrementT , MapStorageMode StorageModeT>

using autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::Increment = IncrementT

Constructor & Destructor Documentation

~MapRepresentationBase()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::~MapRepresentationBase ( )

virtualdefault

Member Function Documentation

capacity()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual std::size_t autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::capacity ( ) const

pure virtualnoexcept

Get the capacity of the map. The meaning is implementation defined.

Returns

Capacity of the map.

clear()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual void autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::clear ( )

pure virtual

Clear the map.

Implemented in autoware::mapping::point_cloud_mapping::VoxelMap, and autoware::mapping::point_cloud_mapping::PlainPointCloudMap.

size()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual std::size_t autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::size ( ) const

pure virtualnoexcept

Return size of the map. This is implementation defined.

Returns

Size of the map.

storage_mode()

template<typename IncrementT , MapStorageMode StorageModeT>

static constexpr MapStorageMode autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::storage_mode ( )

inlinestaticconstexprnoexcept

Get storage mode of the map representation. If MapStorageMode::independent, Then this class is the unique owner of the map data. Otherwise the map is shared with an external entity.

try_add_observation()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual MapUpdateSummary autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::try_add_observation ( const IncrementT &  observation, const geometry_msgs::msg::PoseWithCovarianceStamped &  pose  )

pure virtual

Try to extend the map with the given observation.

Parameters

observation	Observation to add to the map.
pose	Pose associated with the observation.

Returns

A struct summarizing the outcome of the insertion attempt.

Implemented in autoware::mapping::point_cloud_mapping::VoxelMap, and autoware::mapping::point_cloud_mapping::PlainPointCloudMap.

write()

template<typename IncrementT , MapStorageMode StorageModeT>

virtual void autoware::mapping::point_cloud_mapping::MapRepresentationBase< IncrementT, StorageModeT >::write ( const std::string &  file_name_prefix ) const

pure virtual

Export the map and write it to a file.

Parameters

file_name_prefix

File name prefix before the filename postfix is added.

Implemented in autoware::mapping::point_cloud_mapping::VoxelMap, and autoware::mapping::point_cloud_mapping::PlainPointCloudMap.

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

• map.hpp