Template Class spatial_hash< Sophus::SE2d, void >

Class Documentation

template<>
class spatial_hash<Sophus::SE2d, void>

Specialization for Sophus::SE2d. Will calculate the spatial hash based on the translation and rotation.

Public Functions

inline explicit spatial_hash(double x_clustering_resolution, double y_clustering_resolution, double theta_clustering_resolution)

Constructs a spatial hasher given per-coordinate resolutions.

Parameters:

  • x_clustering_resolution – Clustering resolution for the X axis, in meters.

  • y_clustering_resolution – Clustering resolution for the Y axis, in meters.

  • theta_clustering_resolution – Clustering resolution for the Theta axis, in radians.

inline explicit spatial_hash(double linear_clustering_resolution, double angular_clustering_resolution)

Constructs a spatial hasher given per-group resolutions.

Parameters:

  • linear_clustering_resolution – Clustering resolution for translational coordinates, in meters.

  • angular_clustering_resolution – Clustering resolution for rotational coordinates, in radians.

spatial_hash() = default

Default constructor.

inline std::size_t operator()(const Sophus::SE2d &state) const

Calculates the tuple hash, using the given resolution for x, y and rotation given at construction time.

Parameters:

state – The state to be hashed.

Returns:

The calculated hash.