Class SpatioTemporalVoxelGrid

Defined in File spatio_temporal_voxel_grid.hpp

Class Documentation

class SpatioTemporalVoxelGrid

Public Types

typedef openvdb::math::Ray<openvdb::Real> GridRay

typedef openvdb::math::Ray<openvdb::Real>::Vec3T Vec3Type

Public Functions

SpatioTemporalVoxelGrid(rclcpp::Clock::SharedPtr clock, const float &voxel_size, const double &background_value, const int &decay_model, const double &voxel_decay, const bool &pub_voxels)

~SpatioTemporalVoxelGrid(void)

void Mark(const std::vector<observation::MeasurementReading> &marking_observations)

void operator()(const observation::MeasurementReading &obs) const

void ClearFrustums(const std::vector<observation::MeasurementReading> &clearing_observations, std::unordered_set<occupany_cell> &cleared_cells)

void GetOccupancyPointCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> &pc2)

std::unordered_map<occupany_cell, uint> *GetFlattenedCostmap()

bool ResetGrid(void)

void ResetGridArea(const occupany_cell &start, const occupany_cell &end, bool invert_area = false)

bool SaveGrid(const std::string &file_name, double &map_size_bytes)

Protected Functions

void InitializeGrid(void)

bool MarkGridPoint(const openvdb::Coord &pt, const double &value) const

bool ClearGridPoint(const openvdb::Coord &pt) const

bool IsGridEmpty(void) const

double GetTemporalClearingDuration(const double &time_delta)

double GetFrustumAcceleration(const double &time_delta, const double &acceleration_factor)

void TemporalClearAndGenerateCostmap(std::vector<frustum_model> &frustums, std::unordered_set<occupany_cell> &cleared_cells)

void PopulateCostmapAndPointcloud(const openvdb::Coord &pt)

openvdb::Vec3d WorldToIndex(const openvdb::Vec3d &coord) const

openvdb::Vec3d IndexToWorld(const openvdb::Coord &coord) const

Protected Attributes

rclcpp::Clock::SharedPtr _clock

mutable openvdb::DoubleGrid::Ptr _grid

int _decay_model

double _background_value

double _voxel_size

double _voxel_decay

bool _pub_voxels

std::unique_ptr<std::vector<geometry_msgs::msg::Point32>> _grid_points

std::unordered_map<occupany_cell, uint> *_cost_map

boost::mutex _grid_lock