conscience_core::lidar::CscSlam3dMapVoxelGrid Struct Reference

#include <CscSlamEngine.h>

Public Types
using	VoxelSet = std::unordered_set< CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash >

Public Member Functions
const VoxelSet &	getVoxelsUnsafe () const
	CscSlam3dMapVoxelGrid (float voxelSizeMeters=0.035)
CscSlam3dMapVoxelKey	cscPointToVoxel (const CscPoint3d &point) const
bool	contains (const CscSlam3dMapVoxelKey &voxel) const
std::optional< CscSlam3dMapVoxelDiff >	addVoxel (const CscSlam3dMapVoxelKey &voxel)
std::optional< CscSlam3dMapVoxelDiff >	removeVoxel (const CscSlam3dMapVoxelKey &voxel)
std::optional< CscSlam3dMapVoxelDiff >	addPointConscience (const CscPoint3d &point)
std::optional< CscSlam3dMapVoxelDiff >	removePointConscience (const CscPoint3d &point)
std::optional< CscSlam3dMapVoxelDiff >	addPointMrpt (double x, double y, double z)
std::optional< CscSlam3dMapVoxelDiff >	removePointMrpt (double x, double y, double z)
vector< CscSlam3dMapVoxelKey >	getAllVoxelsCopy () const
void	replaceWith (CscSlam3dMapVoxelGrid &&other)
void	clear ()
size_t	size () const
bool	empty () const

Public Attributes
const float	voxelSizeMeters

Member Typedef Documentation

VoxelSet

using conscience_core::lidar::CscSlam3dMapVoxelGrid::VoxelSet = std::unordered_set<CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash>

Constructor & Destructor Documentation

CscSlam3dMapVoxelGrid()

conscience_core::lidar::CscSlam3dMapVoxelGrid::CscSlam3dMapVoxelGrid ( float  voxelSizeMeters = 0.035 )

explicit

Member Function Documentation

addPointConscience()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::addPointConscience

(

const CscPoint3d &

point

)

Parameters

point

point to be added in conscience ref frame

Returns

optional change to the associated voxel

addPointMrpt()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::addPointMrpt	(	double	x,
		double	y,
		double	z
	)

addVoxel()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::addVoxel

(

const CscSlam3dMapVoxelKey &

voxel

)

clear()

void conscience_core::lidar::CscSlam3dMapVoxelGrid::clear

(

)

contains()

bool conscience_core::lidar::CscSlam3dMapVoxelGrid::contains

(

const CscSlam3dMapVoxelKey &

voxel

)

const

cscPointToVoxel()

CscSlam3dMapVoxelKey conscience_core::lidar::CscSlam3dMapVoxelGrid::cscPointToVoxel

(

const CscPoint3d &

point

)

const

empty()

bool conscience_core::lidar::CscSlam3dMapVoxelGrid::empty

(

)

const

getAllVoxelsCopy()

vector< CscSlam3dMapVoxelKey > conscience_core::lidar::CscSlam3dMapVoxelGrid::getAllVoxelsCopy

(

)

const

getVoxelsUnsafe()

const CscSlam3dMapVoxelGrid::VoxelSet & conscience_core::lidar::CscSlam3dMapVoxelGrid::getVoxelsUnsafe

(

)

const

removePointConscience()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::removePointConscience

(

const CscPoint3d &

point

)

Parameters

point

point to be removed in conscience ref frame

Returns

optional change to the associated voxel

removePointMrpt()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::removePointMrpt	(	double	x,
		double	y,
		double	z
	)

removeVoxel()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dMapVoxelGrid::removeVoxel

(

const CscSlam3dMapVoxelKey &

voxel

)

replaceWith()

void conscience_core::lidar::CscSlam3dMapVoxelGrid::replaceWith

(

CscSlam3dMapVoxelGrid &&

other

)

size()

size_t conscience_core::lidar::CscSlam3dMapVoxelGrid::size

(

)

const

Member Data Documentation

voxelSizeMeters

const float conscience_core::lidar::CscSlam3dMapVoxelGrid::voxelSizeMeters

---

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

• Lidar/CscSlamEngine.h
• Lidar/CscSlamEngine.cpp