Generic container for a discretized 3D voxel grid for any class/structure. More...

#include <voxel_grid.h>

Inheritance diagram for distance_field::VoxelGrid< T >:

Public Types
enum	Dimension { DIM_X = 0, DIM_Y = 1, DIM_Z = 2 }
Public Member Functions
T &	getCell (int x, int y, int z)
	Gets the value at a given integer location.
const T &	getCell (int x, int y, int z) const
	Gets the value at a given integer location (const version).
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 (int x, int y, int z) const
	Checks if the given cell is within the voxel grid.
bool	isCellValid (Dimension dim, int cell) const
	Checks validity of the given cell for a particular dimension.
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_

Detailed Description

template<typename T>
class distance_field::VoxelGrid< T >

Generic container for a discretized 3D voxel grid for any class/structure.

Definition at line 50 of file voxel_grid.h.

Member Enumeration Documentation

template<typename T>

enum distance_field::VoxelGrid::Dimension

Enumerator:

DIM_X
DIM_Y
DIM_Z

Definition at line 94 of file voxel_grid.h.

Constructor & Destructor Documentation

template<typename T>

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
	)

Constructor for the VoxelGrid.

Parameters:

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 172 of file voxel_grid.h.

template<typename T >

distance_field::VoxelGrid< T >::~VoxelGrid ( ) [virtual]

Definition at line 199 of file voxel_grid.h.

Member Function Documentation

template<typename T >

T & distance_field::VoxelGrid< T >::getCell	(	int	x,
		int	y,
		int	z
	)		`[inline]`

Gets the value at a given integer location.

Definition at line 261 of file voxel_grid.h.

template<typename T >

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 267 of file voxel_grid.h.

template<typename T >

int distance_field::VoxelGrid< T >::getCellFromLocation	(	Dimension	dim,
		double	loc
	)		const `[inline, protected]`

Gets the cell number from the location.

Definition at line 279 of file voxel_grid.h.

template<typename T >

double distance_field::VoxelGrid< T >::getLocationFromCell	(	Dimension	dim,
		int	cell
	)		const `[inline, protected]`

Gets the location from the cell number.

Definition at line 289 of file voxel_grid.h.

template<typename T >

int distance_field::VoxelGrid< T >::getNumCells ( Dimension dim ) const [inline]

Gets the number of cells of the given dimension.

Definition at line 244 of file voxel_grid.h.

template<typename T >

double distance_field::VoxelGrid< T >::getOrigin ( Dimension dim ) const [inline]

Gets the origin of the given dimension.

Definition at line 238 of file voxel_grid.h.

template<typename T >

double distance_field::VoxelGrid< T >::getResolution ( Dimension dim ) const [inline]

Gets the resolution of the given dimension.

Definition at line 232 of file voxel_grid.h.

template<typename T >

double distance_field::VoxelGrid< T >::getSize ( Dimension dim ) const [inline]

Gets the size of the given dimension.

Definition at line 226 of file voxel_grid.h.

template<typename T >

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 302 of file voxel_grid.h.

template<typename T >

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 205 of file voxel_grid.h.

template<typename T >

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 214 of file voxel_grid.h.

template<typename T >

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 250 of file voxel_grid.h.

template<typename T >

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 220 of file voxel_grid.h.

template<typename T>

void distance_field::VoxelGrid< T >::reset ( T initial ) [inline]

Reset the entire grid to the given initial value.

Definition at line 296 of file voxel_grid.h.

template<typename T>

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 273 of file voxel_grid.h.

template<typename T >

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 311 of file voxel_grid.h.

Member Data Documentation

template<typename T>

T* distance_field::VoxelGrid< T >::data_ [protected]

Storage for data elements

Definition at line 132 of file voxel_grid.h.

template<typename T>

T*** distance_field::VoxelGrid< T >::data_ptrs_ [protected]

Definition at line 134 of file voxel_grid.h.

template<typename T>

T distance_field::VoxelGrid< T >::default_object_ [protected]

The default object to return in case of out-of-bounds query

Definition at line 133 of file voxel_grid.h.

template<typename T>

int distance_field::VoxelGrid< T >::num_cells_[3] [protected]

Definition at line 138 of file voxel_grid.h.

template<typename T>

int distance_field::VoxelGrid< T >::num_cells_total_ [protected]

Definition at line 139 of file voxel_grid.h.

template<typename T>

double distance_field::VoxelGrid< T >::origin_[3] [protected]

Definition at line 137 of file voxel_grid.h.

template<typename T>

double distance_field::VoxelGrid< T >::resolution_[3] [protected]

Definition at line 136 of file voxel_grid.h.

template<typename T>

double distance_field::VoxelGrid< T >::size_[3] [protected]

Definition at line 135 of file voxel_grid.h.

template<typename T>

int distance_field::VoxelGrid< T >::stride1_ [protected]

Definition at line 140 of file voxel_grid.h.

template<typename T>

int distance_field::VoxelGrid< T >::stride2_ [protected]

Definition at line 141 of file voxel_grid.h.

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

voxel_grid.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T> class distance_field::VoxelGrid< T >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class distance_field::VoxelGrid< T >