Generic container for a discretized 3D voxel grid for any class/structure. More...
#include <voxel_grid.h>
Public Types | |
| enum | Dimension { DIM_X = 0, DIM_Y = 1, DIM_Z = 2 } |
Public Member Functions | |
| const T & | getCell (int x, int y, int z) const |
| Gets the value at a given integer location (const version). | |
| T & | getCell (int x, int y, int z) |
| Gets the value at a given integer location. | |
| int | getNumCells (Dimension dim) const |
| Gets the number of cells of the given dimension. | |
| double | getOrigin (Dimension dim) const |
| Gets the origin of the given dimension. | |
| double | getResolution (Dimension dim) const |
| Gets the resolution of the given dimension. | |
| double | getSize (Dimension dim) const |
| Gets the size of the given dimension. | |
| bool | gridToWorld (int x, int y, int z, double &world_x, double &world_y, double &world_z) const |
| Converts grid coordinates to world coordinates. | |
| const T & | operator() (double x, double y, double z) const |
| Gets the value at the given position (returns the value from the closest discretized location). | |
| void | reset (T initial) |
| Reset the entire grid to the given initial value. | |
| void | setCell (int x, int y, int z, T &obj) |
| Sets the value at an integer location. | |
| VoxelGrid (double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y, double origin_z, T default_object) | |
| bool | worldToGrid (double world_x, double world_y, double world_z, int &x, int &y, int &z) const |
| Converts world coordinates to grid coordinates. | |
| virtual | ~VoxelGrid () |
Protected Member Functions | |
| int | getCellFromLocation (Dimension dim, double loc) const |
| Gets the cell number from the location. | |
| double | getLocationFromCell (Dimension dim, int cell) const |
| Gets the location from the cell number. | |
| bool | isCellValid (Dimension dim, int cell) const |
| Checks validity of the given cell for a particular dimension. | |
| bool | isCellValid (int x, int y, int z) const |
| Checks if the given cell is within the voxel grid. | |
| int | ref (int x, int y, int z) const |
| Gets the reference in the data_ array for the given integer x,y,z location. | |
Protected Attributes | |
| T * | data_ |
| T *** | data_ptrs_ |
| T | default_object_ |
| int | num_cells_ [3] |
| int | num_cells_total_ |
| double | origin_ [3] |
| double | resolution_ [3] |
| double | size_ [3] |
| int | stride1_ |
| int | stride2_ |
Generic container for a discretized 3D voxel grid for any class/structure.
Definition at line 49 of file voxel_grid.h.
| enum distance_field::VoxelGrid::Dimension |
Definition at line 93 of file voxel_grid.h.
| distance_field::VoxelGrid< T >::VoxelGrid | ( | double | size_x, | |
| double | size_y, | |||
| double | size_z, | |||
| double | resolution, | |||
| double | origin_x, | |||
| double | origin_y, | |||
| double | origin_z, | |||
| T | default_object | |||
| ) | [inline] |
Constructor for the VoxelGrid.
| size_x | Size (x axis) of the container in meters | |
| size_y | Size (y axis) of the container in meters | |
| size_z | Size (z axis) of the container in meters | |
| resolution,: | resolution (size of a single cell) in meters | |
| origin_x | Origin (x axis) of the container | |
| origin_y | Origin (y axis) of the container | |
| origin_z | Origin (z axis) of the container | |
| default_object | The object to return for an out-of-bounds query |
Definition at line 171 of file voxel_grid.h.
| distance_field::VoxelGrid< T >::~VoxelGrid | ( | ) | [inline, virtual] |
Definition at line 198 of file voxel_grid.h.
| const T & distance_field::VoxelGrid< T >::getCell | ( | int | x, | |
| int | y, | |||
| int | z | |||
| ) | const [inline] |
Gets the value at a given integer location (const version).
Definition at line 266 of file voxel_grid.h.
| T & distance_field::VoxelGrid< T >::getCell | ( | int | x, | |
| int | y, | |||
| int | z | |||
| ) | [inline] |
Gets the value at a given integer location.
Definition at line 260 of file voxel_grid.h.
| int distance_field::VoxelGrid< T >::getCellFromLocation | ( | Dimension | dim, | |
| double | loc | |||
| ) | const [inline, protected] |
Gets the cell number from the location.
Definition at line 278 of file voxel_grid.h.
| double distance_field::VoxelGrid< T >::getLocationFromCell | ( | Dimension | dim, | |
| int | cell | |||
| ) | const [inline, protected] |
Gets the location from the cell number.
Definition at line 284 of file voxel_grid.h.
| int distance_field::VoxelGrid< T >::getNumCells | ( | Dimension | dim | ) | const [inline] |
Gets the number of cells of the given dimension.
Definition at line 243 of file voxel_grid.h.
| double distance_field::VoxelGrid< T >::getOrigin | ( | Dimension | dim | ) | const [inline] |
Gets the origin of the given dimension.
Definition at line 237 of file voxel_grid.h.
| double distance_field::VoxelGrid< T >::getResolution | ( | Dimension | dim | ) | const [inline] |
Gets the resolution of the given dimension.
Definition at line 231 of file voxel_grid.h.
| double distance_field::VoxelGrid< T >::getSize | ( | Dimension | dim | ) | const [inline] |
Gets the size of the given dimension.
Definition at line 225 of file voxel_grid.h.
| bool distance_field::VoxelGrid< T >::gridToWorld | ( | int | x, | |
| int | y, | |||
| int | z, | |||
| double & | world_x, | |||
| double & | world_y, | |||
| double & | world_z | |||
| ) | const [inline] |
Converts grid coordinates to world coordinates.
Definition at line 297 of file voxel_grid.h.
| bool distance_field::VoxelGrid< T >::isCellValid | ( | Dimension | dim, | |
| int | cell | |||
| ) | const [inline, protected] |
Checks validity of the given cell for a particular dimension.
Definition at line 213 of file voxel_grid.h.
| bool distance_field::VoxelGrid< T >::isCellValid | ( | int | x, | |
| int | y, | |||
| int | z | |||
| ) | const [inline, protected] |
Checks if the given cell is within the voxel grid.
Definition at line 204 of file voxel_grid.h.
| const T & distance_field::VoxelGrid< T >::operator() | ( | double | x, | |
| double | y, | |||
| double | z | |||
| ) | const [inline] |
Gets the value at the given position (returns the value from the closest discretized location).
Definition at line 249 of file voxel_grid.h.
| int distance_field::VoxelGrid< T >::ref | ( | int | x, | |
| int | y, | |||
| int | z | |||
| ) | const [inline, protected] |
Gets the reference in the data_ array for the given integer x,y,z location.
Definition at line 219 of file voxel_grid.h.
| void distance_field::VoxelGrid< T >::reset | ( | T | initial | ) | [inline] |
Reset the entire grid to the given initial value.
Definition at line 291 of file voxel_grid.h.
| void distance_field::VoxelGrid< T >::setCell | ( | int | x, | |
| int | y, | |||
| int | z, | |||
| T & | obj | |||
| ) | [inline] |
Sets the value at an integer location.
Definition at line 272 of file voxel_grid.h.
| bool distance_field::VoxelGrid< T >::worldToGrid | ( | double | world_x, | |
| double | world_y, | |||
| double | world_z, | |||
| int & | x, | |||
| int & | y, | |||
| int & | z | |||
| ) | const [inline] |
Converts world coordinates to grid coordinates.
Definition at line 306 of file voxel_grid.h.
T* distance_field::VoxelGrid< T >::data_ [protected] |
Storage for data elements
Definition at line 131 of file voxel_grid.h.
T*** distance_field::VoxelGrid< T >::data_ptrs_ [protected] |
Definition at line 133 of file voxel_grid.h.
T distance_field::VoxelGrid< T >::default_object_ [protected] |
The default object to return in case of out-of-bounds query
Definition at line 132 of file voxel_grid.h.
int distance_field::VoxelGrid< T >::num_cells_[3] [protected] |
Definition at line 137 of file voxel_grid.h.
int distance_field::VoxelGrid< T >::num_cells_total_ [protected] |
Definition at line 138 of file voxel_grid.h.
double distance_field::VoxelGrid< T >::origin_[3] [protected] |
Definition at line 136 of file voxel_grid.h.
double distance_field::VoxelGrid< T >::resolution_[3] [protected] |
Definition at line 135 of file voxel_grid.h.
double distance_field::VoxelGrid< T >::size_[3] [protected] |
Definition at line 134 of file voxel_grid.h.
int distance_field::VoxelGrid< T >::stride1_ [protected] |
Definition at line 139 of file voxel_grid.h.
int distance_field::VoxelGrid< T >::stride2_ [protected] |
Definition at line 140 of file voxel_grid.h.
