Template Class spatial_hash< Sophus::SE3d, void >

Class Documentation

template<>
class spatial_hash<Sophus::SE3d, void>

Specialization for Sophus::SE3d. It will calculate the spatial hash based on translation and rotation expressed in RPY angles. This is rotations with respect to a fixed frame (extrinsic rotation), in XYZ order.

Public Functions

inline explicit spatial_hash(double x_clustering_resolution, double y_clustering_resolution, double z_clustering_resolution, double roll_clustering_resolution, double pitch_clustering_resolution, double yaw_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.

  • z_clustering_resolution – Clustering resolution for the Z axis, in meters.

  • roll_clustering_resolution – Clustering resolution for roll in radians.

  • pitch_clustering_resolution – Clustering resolution for pitch in radians.

  • yaw_clustering_resolution – Clustering resolution for yaw in radians.

inline explicit spatial_hash(double x_clustering_resolution, double y_clustering_resolution, double z_clustering_resolution, double angular_clustering_resolution)

Constructs a spatial hasher given per-coordinate and angular resolutions.

Parameters:

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

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

  • z_clustering_resolution – Clustering resolution for the Z axis, in meters.

  • angular_clustering_resolution – Clustering resolution for roll pitch and yaw, 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 components, in radians.

spatial_hash() = default

Default constructor.

inline std::size_t operator()(const Sophus::SE3d &state) const

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

Parameters:

state – The state to be hashed.

Returns:

The calculated hash.