#include <raycast_using_dda.h>

Inheritance diagram for mcl_3dl::RaycastUsingDDA< POINT_TYPE >:

Public Member Functions
bool	getNextCastResult (CastResult &result) final

	RaycastUsingDDA (const double map_grid_size_x, const double map_grid_size_y, const double map_grid_size_z, const double dda_grid_size, const double ray_angle_half, const double hit_tolerance)

void	setRay (typename ChunkedKdtree< POINT_TYPE >::Ptr kdtree, const Vec3 ray_begin, const Vec3 ray_end_org) final

Public Member Functions inherited from mcl_3dl::Raycast< POINT_TYPE >
	Raycast ()

Private Member Functions
Vec3	fromIndex (const Eigen::Vector3i &index) const

size_t	getArrayIndex (const Eigen::Vector3i &cell) const

const POINT_TYPE *	hasIntersection (const Eigen::Vector3i &target_cell) const

bool	incrementIndex (const int i)

bool	isPointWithinMap (const Vec3 &point) const

void	setExists (const POINT_TYPE *point)

Eigen::Vector3i	toIndex (const Vec3 &point) const

Eigen::Vector3i	toIndex (const POINT_TYPE *point) const

void	updatePointCloud ()

Private Attributes
Eigen::Vector3i	begin_index_

Eigen::Vector3i	current_index_

const double	dda_grid_size_

Eigen::Vector3i	end_index_

const double	hit_tolerance_

Vec3	initial_edges_

ChunkedKdtree< POINT_TYPE >::Ptr	kdtree_

Eigen::Vector3i	map_size_

int	max_movement_

Eigen::Vector4f	max_p_

const double	min_dist_thr_sq_

Eigen::Vector4f	min_p_

pcl::PCLHeader	point_cloud_header_

std::vector< uint8_t >	point_exists_

std::unordered_map< size_t, std::vector< const POINT_TYPE * > >	points_

int	pos_

const double	ray_angle_half_

Vec3	ray_begin_

Vec3	ray_direction_vector_

Eigen::Vector3i	step_

Vec3	t_delta_

Vec3	t_max_

Detailed Description

template<typename POINT_TYPE>
class mcl_3dl::RaycastUsingDDA< POINT_TYPE >

Definition at line 51 of file raycast_using_dda.h.

Constructor & Destructor Documentation

template<typename POINT_TYPE>

mcl_3dl::RaycastUsingDDA< POINT_TYPE >::RaycastUsingDDA	(	const double	map_grid_size_x,
		const double	map_grid_size_y,
		const double	map_grid_size_z,
		const double	dda_grid_size,
		const double	ray_angle_half,
		const double	hit_tolerance
	)

inline

Definition at line 56 of file raycast_using_dda.h.

Member Function Documentation

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::fromIndex ( const Eigen::Vector3i & index ) const

inlineprivate

Definition at line 219 of file raycast_using_dda.h.

template<typename POINT_TYPE>

size_t mcl_3dl::RaycastUsingDDA< POINT_TYPE >::getArrayIndex ( const Eigen::Vector3i & cell ) const

inlineprivate

Definition at line 225 of file raycast_using_dda.h.

template<typename POINT_TYPE>

bool mcl_3dl::RaycastUsingDDA< POINT_TYPE >::getNextCastResult ( CastResult & result )

inlinefinalvirtual

Implements mcl_3dl::Raycast< POINT_TYPE >.

Definition at line 106 of file raycast_using_dda.h.

template<typename POINT_TYPE>

const POINT_TYPE* mcl_3dl::RaycastUsingDDA< POINT_TYPE >::hasIntersection ( const Eigen::Vector3i & target_cell ) const

inlineprivate

Definition at line 237 of file raycast_using_dda.h.

template<typename POINT_TYPE>

bool mcl_3dl::RaycastUsingDDA< POINT_TYPE >::incrementIndex ( const int i )

inlineprivate

Definition at line 192 of file raycast_using_dda.h.

template<typename POINT_TYPE>

bool mcl_3dl::RaycastUsingDDA< POINT_TYPE >::isPointWithinMap ( const Vec3 & point ) const

inlineprivate

Definition at line 260 of file raycast_using_dda.h.

template<typename POINT_TYPE>

void mcl_3dl::RaycastUsingDDA< POINT_TYPE >::setExists ( const POINT_TYPE * point )

inlineprivate

Definition at line 230 of file raycast_using_dda.h.

template<typename POINT_TYPE>

void mcl_3dl::RaycastUsingDDA< POINT_TYPE >::setRay	(	typename ChunkedKdtree< POINT_TYPE >::Ptr	kdtree,
		const Vec3	ray_begin,
		const Vec3	ray_end_org
	)

inlinefinalvirtual

Implements mcl_3dl::Raycast< POINT_TYPE >.

Definition at line 66 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::toIndex ( const Vec3 & point ) const

inlineprivate

Definition at line 205 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::toIndex ( const POINT_TYPE * point ) const

inlineprivate

Definition at line 212 of file raycast_using_dda.h.

template<typename POINT_TYPE>

void mcl_3dl::RaycastUsingDDA< POINT_TYPE >::updatePointCloud ( )

inlineprivate

Definition at line 162 of file raycast_using_dda.h.

Member Data Documentation

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::begin_index_

private

Definition at line 286 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::current_index_

private

Definition at line 294 of file raycast_using_dda.h.

template<typename POINT_TYPE>

const double mcl_3dl::RaycastUsingDDA< POINT_TYPE >::dda_grid_size_

private

Definition at line 274 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::end_index_

private

Definition at line 287 of file raycast_using_dda.h.

template<typename POINT_TYPE>

const double mcl_3dl::RaycastUsingDDA< POINT_TYPE >::hit_tolerance_

private

Definition at line 276 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::initial_edges_

private

Definition at line 295 of file raycast_using_dda.h.

template<typename POINT_TYPE>

ChunkedKdtree<POINT_TYPE>::Ptr mcl_3dl::RaycastUsingDDA< POINT_TYPE >::kdtree_

private

Definition at line 272 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::map_size_

private

Definition at line 278 of file raycast_using_dda.h.

template<typename POINT_TYPE>

int mcl_3dl::RaycastUsingDDA< POINT_TYPE >::max_movement_

private

Definition at line 290 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector4f mcl_3dl::RaycastUsingDDA< POINT_TYPE >::max_p_

private

Definition at line 284 of file raycast_using_dda.h.

template<typename POINT_TYPE>

const double mcl_3dl::RaycastUsingDDA< POINT_TYPE >::min_dist_thr_sq_

private

Definition at line 273 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector4f mcl_3dl::RaycastUsingDDA< POINT_TYPE >::min_p_

private

Definition at line 283 of file raycast_using_dda.h.

template<typename POINT_TYPE>

pcl::PCLHeader mcl_3dl::RaycastUsingDDA< POINT_TYPE >::point_cloud_header_

private

Definition at line 279 of file raycast_using_dda.h.

template<typename POINT_TYPE>

std::vector<uint8_t> mcl_3dl::RaycastUsingDDA< POINT_TYPE >::point_exists_

private

Definition at line 281 of file raycast_using_dda.h.

template<typename POINT_TYPE>

std::unordered_map<size_t, std::vector<const POINT_TYPE*> > mcl_3dl::RaycastUsingDDA< POINT_TYPE >::points_

private

Definition at line 282 of file raycast_using_dda.h.

template<typename POINT_TYPE>

int mcl_3dl::RaycastUsingDDA< POINT_TYPE >::pos_

private

Definition at line 291 of file raycast_using_dda.h.

template<typename POINT_TYPE>

const double mcl_3dl::RaycastUsingDDA< POINT_TYPE >::ray_angle_half_

private

Definition at line 275 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::ray_begin_

private

Definition at line 288 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::ray_direction_vector_

private

Definition at line 289 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Eigen::Vector3i mcl_3dl::RaycastUsingDDA< POINT_TYPE >::step_

private

Definition at line 296 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::t_delta_

private

Definition at line 293 of file raycast_using_dda.h.

template<typename POINT_TYPE>

Vec3 mcl_3dl::RaycastUsingDDA< POINT_TYPE >::t_max_

private

Definition at line 292 of file raycast_using_dda.h.

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

raycast_using_dda.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename POINT_TYPE> class mcl_3dl::RaycastUsingDDA< POINT_TYPE >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename POINT_TYPE>
class mcl_3dl::RaycastUsingDDA< POINT_TYPE >