A spatial index represented as a grid map. More...

#include <lazy_grid.h>

Inheritance diagram for lslgeneric::LazyGrid:

Public Member Functions
virtual NDTCell *	addPoint (const pcl::PointXYZ &point)
	add a point and get back the pointer to the cell in which it ended up
virtual SpatialIndex::CellVectorItr	begin ()
	iterator through all cells in index, points at the begining
virtual SpatialIndex *	clone () const
	clone - create an empty object with same type
virtual SpatialIndex *	copy () const
	copy - create the same object as a new instance
virtual SpatialIndex::CellVectorItr	end ()
	iterator through all cells in index, points at the end
virtual void	getCellAt (int indX, int indY, int indZ, NDTCell *&cell)
virtual void	getCellAt (const pcl::PointXYZ &pt, NDTCell *&cell)
virtual NDTCell *	getCellForPoint (const pcl::PointXYZ &point)
void	getCellSize (double &cx, double &cy, double &cz)
void	getCenter (double &cx, double &cy, double &cz)
virtual std::vector< NDTCell * >	getClosestCells (const pcl::PointXYZ &pt)
virtual NDTCell *	getClosestNDTCell (const pcl::PointXYZ &pt, bool checkForGaussian=true)
virtual std::vector< NDTCell * >	getClosestNDTCells (const pcl::PointXYZ &pt, int &n_neigh, bool checkForGaussian=true)
NDTCell ****	getDataArrayPtr ()
void	getGridSize (int &cx, int &cy, int &cz)
void	getGridSizeInMeters (double &cx, double &cy, double &cz)
virtual void	getIndexForPoint (const pcl::PointXYZ &pt, int &idx, int &idy, int &idz)
virtual void	getNDTCellAt (int indX, int indY, int indZ, NDTCell *&cell)
virtual void	getNDTCellAt (const pcl::PointXYZ &pt, NDTCell *&cell)
virtual void	getNeighbors (const pcl::PointXYZ &point, const double &radius, std::vector< NDTCell * > &cells)
	method to return all cells within a certain radius from a point
NDTCell *	getProtoType ()
virtual void	initialize ()
virtual void	initializeAll ()
bool	isInside (const pcl::PointXYZ &pt)
	LazyGrid (double cellSize)
	LazyGrid (LazyGrid *prot)
	LazyGrid (double sizeXmeters, double sizeYmeters, double sizeZmeters, double cellSizeX, double cellSizeY, double cellSizeZ, double _centerX, double _centerY, double _centerZ, NDTCell *cellPrototype)
virtual int	loadFromJFF (FILE *jffin)
	reads map contents from .jff file
virtual void	setCellType (NDTCell *type)
	sets the cell factory type
virtual void	setCenter (const double &cx, const double &cy, const double &cz)
virtual void	setSize (const double &sx, const double &sy, const double &sz)
virtual int	size ()
bool	traceLine (const Eigen::Vector3d &origin, const pcl::PointXYZ &endpoint, const Eigen::Vector3d &diff, const double &maxz, std::vector< NDTCell * > &cells)
bool	traceLineWithEndpoint (const Eigen::Vector3d &origin, const pcl::PointXYZ &endpoint, const Eigen::Vector3d &diff, const double &maxz, std::vector< NDTCell * > &cells, Eigen::Vector3d &final_point)
virtual	~LazyGrid ()
Protected Member Functions
virtual bool	checkCellforNDT (int indX, int indY, int indZ, bool checkForGaussian=true)
Protected Attributes
std::vector< NDTCell * >	activeCells
double	cellSizeX
double	cellSizeY
double	cellSizeZ
bool	centerIsSet
double	centerX
double	centerY
double	centerZ
NDTCell ****	dataArray
bool	initialized
NDTCell *	protoType
bool	sizeIsSet
int	sizeX
double	sizeXmeters
int	sizeY
double	sizeYmeters
int	sizeZ
double	sizeZmeters

Detailed Description

A spatial index represented as a grid map.

A grid map with delayed allocation of cells.

Definition at line 47 of file lazy_grid.h.

Constructor & Destructor Documentation

lslgeneric::LazyGrid::LazyGrid ( double cellSize )

Definition at line 10 of file lazy_grid.cpp.

lslgeneric::LazyGrid::LazyGrid ( LazyGrid * prot )

Definition at line 19 of file lazy_grid.cpp.

lslgeneric::LazyGrid::LazyGrid	(	double	sizeXmeters,
		double	sizeYmeters,
		double	sizeZmeters,
		double	cellSizeX,
		double	cellSizeY,
		double	cellSizeZ,
		double	_centerX,
		double	_centerY,
		double	_centerZ,
		NDTCell *	cellPrototype
	)

Definition at line 43 of file lazy_grid.cpp.

lslgeneric::LazyGrid::~LazyGrid ( ) [virtual]

Definition at line 151 of file lazy_grid.cpp.

Member Function Documentation

NDTCell * lslgeneric::LazyGrid::addPoint ( const pcl::PointXYZ & point ) [virtual]

add a point and get back the pointer to the cell in which it ended up

Implements lslgeneric::SpatialIndex.

Definition at line 199 of file lazy_grid.cpp.

SpatialIndex::CellVectorItr lslgeneric::LazyGrid::begin ( ) [virtual]

iterator through all cells in index, points at the begining

Implements lslgeneric::SpatialIndex.

Definition at line 251 of file lazy_grid.cpp.

bool lslgeneric::LazyGrid::checkCellforNDT	(	int	indX,
		int	indY,
		int	indZ,
		bool	checkForGaussian = `true`
	)		`[protected, virtual]`

Definition at line 449 of file lazy_grid.cpp.

SpatialIndex * lslgeneric::LazyGrid::clone ( ) const [virtual]

clone - create an empty object with same type

Implements lslgeneric::SpatialIndex.

Definition at line 266 of file lazy_grid.cpp.

SpatialIndex * lslgeneric::LazyGrid::copy ( ) const [virtual]

copy - create the same object as a new instance

Implements lslgeneric::SpatialIndex.

Definition at line 271 of file lazy_grid.cpp.

SpatialIndex::CellVectorItr lslgeneric::LazyGrid::end ( ) [virtual]

iterator through all cells in index, points at the end

Implements lslgeneric::SpatialIndex.

Definition at line 256 of file lazy_grid.cpp.

virtual void lslgeneric::LazyGrid::getCellAt	(	int	indX,
		int	indY,
		int	indZ,
		NDTCell *&	cell
	)		`[inline, virtual]`

Definition at line 85 of file lazy_grid.h.

virtual void lslgeneric::LazyGrid::getCellAt	(	const pcl::PointXYZ &	pt,
		NDTCell *&	cell
	)		`[inline, virtual]`

Definition at line 93 of file lazy_grid.h.

NDTCell * lslgeneric::LazyGrid::getCellForPoint ( const pcl::PointXYZ & point ) [virtual]

Implements lslgeneric::SpatialIndex.

Definition at line 183 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::getCellSize	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 474 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::getCenter	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 481 of file lazy_grid.cpp.

std::vector< NDTCell * > lslgeneric::LazyGrid::getClosestCells ( const pcl::PointXYZ & pt ) [virtual]

Definition at line 323 of file lazy_grid.cpp.

NDTCell * lslgeneric::LazyGrid::getClosestNDTCell	(	const pcl::PointXYZ &	pt,
		bool	checkForGaussian = `true`
	)		`[virtual]`

Definition at line 387 of file lazy_grid.cpp.

std::vector< NDTCell * > lslgeneric::LazyGrid::getClosestNDTCells	(	const pcl::PointXYZ &	pt,
		int &	n_neigh,
		bool	checkForGaussian = `true`
	)		`[virtual]`

Definition at line 353 of file lazy_grid.cpp.

NDTCell**** lslgeneric::LazyGrid::getDataArrayPtr ( ) [inline]

Definition at line 125 of file lazy_grid.h.

void lslgeneric::LazyGrid::getGridSize	(	int &	cx,
		int &	cy,
		int &	cz
	)

Definition at line 489 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::getGridSizeInMeters	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 496 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::getIndexForPoint	(	const pcl::PointXYZ &	pt,
		int &	idx,
		int &	idy,
		int &	idz
	)		`[virtual]`

Definition at line 316 of file lazy_grid.cpp.

virtual void lslgeneric::LazyGrid::getNDTCellAt	(	int	indX,
		int	indY,
		int	indZ,
		NDTCell *&	cell
	)		`[inline, virtual]`

Definition at line 99 of file lazy_grid.h.

virtual void lslgeneric::LazyGrid::getNDTCellAt	(	const pcl::PointXYZ &	pt,
		NDTCell *&	cell
	)		`[inline, virtual]`

Definition at line 106 of file lazy_grid.h.

void lslgeneric::LazyGrid::getNeighbors	(	const pcl::PointXYZ &	point,
		const double &	radius,
		std::vector< NDTCell * > &	cells
	)		`[virtual]`

method to return all cells within a certain radius from a point

Implements lslgeneric::SpatialIndex.

Definition at line 289 of file lazy_grid.cpp.

NDTCell* lslgeneric::LazyGrid::getProtoType ( ) [inline]

Definition at line 117 of file lazy_grid.h.

void lslgeneric::LazyGrid::initialize ( ) [virtual]

Definition at line 134 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::initializeAll ( ) [virtual]

Definition at line 102 of file lazy_grid.cpp.

bool lslgeneric::LazyGrid::isInside ( const pcl::PointXYZ & pt ) [inline]

Definition at line 134 of file lazy_grid.h.

int lslgeneric::LazyGrid::loadFromJFF ( FILE * jffin ) [virtual]

reads map contents from .jff file

Definition at line 503 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::setCellType ( NDTCell * type ) [virtual]

sets the cell factory type

Implements lslgeneric::SpatialIndex.

Definition at line 466 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::setCenter	(	const double &	cx,
		const double &	cy,
		const double &	cz
	)		`[virtual]`

the following methods provide index specific functionalities and don't have to be implemented by all sub-classes

Reimplemented from lslgeneric::SpatialIndex.

Definition at line 71 of file lazy_grid.cpp.

void lslgeneric::LazyGrid::setSize	(	const double &	sx,
		const double &	sy,
		const double &	sz
	)		`[virtual]`

Reimplemented from lslgeneric::SpatialIndex.

Definition at line 84 of file lazy_grid.cpp.

int lslgeneric::LazyGrid::size ( ) [virtual]

Definition at line 261 of file lazy_grid.cpp.

bool lslgeneric::LazyGrid::traceLine	(	const Eigen::Vector3d &	origin,
		const pcl::PointXYZ &	endpoint,
		const Eigen::Vector3d &	diff,
		const double &	maxz,
		std::vector< NDTCell * > &	cells
	)

Select the smallest resolution

We only want to check every cell once, so increase the index if we are still in the same cell

Add fake point to initialize!

Definition at line 607 of file lazy_grid.cpp.

bool lslgeneric::LazyGrid::traceLineWithEndpoint	(	const Eigen::Vector3d &	origin,
		const pcl::PointXYZ &	endpoint,
		const Eigen::Vector3d &	diff,
		const double &	maxz,
		std::vector< NDTCell * > &	cells,
		Eigen::Vector3d &	final_point
	)