conscience_core::lidar::CscSlam3dProbabilisticVoxel Struct Reference

#include <CscSlamEngine.h>

Public Member Functions
void	addHit (double x, double y, double z, uint64_t frameIndex)
void	addMiss (uint64_t frameIndex)
void	getCentroidMrpt (float &x, float &y, float &z) const
bool	isVisible (float visibleThreshold) const
bool	shouldErase (float eraseThreshold) const

Public Attributes
CscSlam3dMapVoxelKey	key
double	sumX = 0.0
double	sumY = 0.0
double	sumZ = 0.0
uint32_t	hits = 0
uint32_t	misses = 0
uint64_t	firstSeenFrame = 0
uint64_t	lastSeenFrame = 0
float	confidence = 0.0f

Member Function Documentation

addHit()

void conscience_core::lidar::CscSlam3dProbabilisticVoxel::addHit	(	double	x,
		double	y,
		double	z,
		uint64_t	frameIndex
	)

addMiss()

void conscience_core::lidar::CscSlam3dProbabilisticVoxel::addMiss

(

uint64_t

frameIndex

)

getCentroidMrpt()

void conscience_core::lidar::CscSlam3dProbabilisticVoxel::getCentroidMrpt	(	float &	x,
		float &	y,
		float &	z
	)		const

isVisible()

bool conscience_core::lidar::CscSlam3dProbabilisticVoxel::isVisible

(

float

visibleThreshold

)

const

shouldErase()

bool conscience_core::lidar::CscSlam3dProbabilisticVoxel::shouldErase

(

float

eraseThreshold

)

const

Member Data Documentation

confidence

float conscience_core::lidar::CscSlam3dProbabilisticVoxel::confidence = 0.0f

firstSeenFrame

uint64_t conscience_core::lidar::CscSlam3dProbabilisticVoxel::firstSeenFrame = 0

hits

uint32_t conscience_core::lidar::CscSlam3dProbabilisticVoxel::hits = 0

key

CscSlam3dMapVoxelKey conscience_core::lidar::CscSlam3dProbabilisticVoxel::key

lastSeenFrame

uint64_t conscience_core::lidar::CscSlam3dProbabilisticVoxel::lastSeenFrame = 0

misses

uint32_t conscience_core::lidar::CscSlam3dProbabilisticVoxel::misses = 0

sumX

double conscience_core::lidar::CscSlam3dProbabilisticVoxel::sumX = 0.0

sumY

double conscience_core::lidar::CscSlam3dProbabilisticVoxel::sumY = 0.0

sumZ

double conscience_core::lidar::CscSlam3dProbabilisticVoxel::sumZ = 0.0

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

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