volume_grid::SpatioTemporalVoxelGrid Class Reference

#include <spatio_temporal_voxel_grid.hpp>

Public Types
typedef openvdb::math::Ray< openvdb::Real >	GridRay
typedef openvdb::math::Ray< openvdb::Real >::Vec3T	Vec3Type

Public Member Functions
void	ClearFrustums (const std::vector< observation::MeasurementReading > &clearing_observations)
std::unordered_map< occupany_cell, uint > *	GetFlattenedCostmap ()
void	GetOccupancyPointCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &pc)
void	Mark (const std::vector< observation::MeasurementReading > &marking_observations)
void	operator() (const observation::MeasurementReading &obs) const
bool	ResetGrid (void)
bool	SaveGrid (const std::string &file_name, double &map_size_bytes)
	SpatioTemporalVoxelGrid (const float &voxel_size, const double &background_value, const GlobalDecayModel &decay_model, const double &voxel_decay, const bool &pub_voxels)
	~SpatioTemporalVoxelGrid (void)

Protected Member Functions
bool	ClearGridPoint (const openvdb::Coord &pt) const
double	GetFrustumAcceleration (const double &time_delta, const double &acceleration_factor)
double	GetTemporalClearingDuration (const double &time_delta)
openvdb::Vec3d	IndexToWorld (const openvdb::Coord &coord) const
void	InitializeGrid (void)
bool	IsGridEmpty (void) const
bool	MarkGridPoint (const openvdb::Coord &pt, const double &value) const
void	PopulateCostmapAndPointcloud (const openvdb::Coord &pt)
void	TemporalClearAndGenerateCostmap (std::vector< frustum_model > &frustums)
openvdb::Vec3d	WorldToIndex (const openvdb::Vec3d &coord) const

Protected Attributes
double	_background_value
std::unordered_map< occupany_cell, uint > *	_cost_map
GlobalDecayModel	_decay_model
openvdb::DoubleGrid::Ptr	_grid
boost::mutex	_grid_lock
pcl::PointCloud< pcl::PointXYZ >::Ptr	_pc
bool	_pub_voxels
double	_voxel_decay
double	_voxel_size

Detailed Description

Definition at line 116 of file spatio_temporal_voxel_grid.hpp.

Member Typedef Documentation

typedef openvdb::math::Ray<openvdb::Real> volume_grid::SpatioTemporalVoxelGrid::GridRay

Definition at line 120 of file spatio_temporal_voxel_grid.hpp.

typedef openvdb::math::Ray<openvdb::Real>::Vec3T volume_grid::SpatioTemporalVoxelGrid::Vec3Type

Definition at line 121 of file spatio_temporal_voxel_grid.hpp.

Constructor & Destructor Documentation

volume_grid::SpatioTemporalVoxelGrid::SpatioTemporalVoxelGrid	(	const float &	voxel_size,
		const double &	background_value,
		const GlobalDecayModel &	decay_model,
		const double &	voxel_decay,
		const bool &	pub_voxels
	)

Definition at line 44 of file spatio_temporal_voxel_grid.cpp.

volume_grid::SpatioTemporalVoxelGrid::~SpatioTemporalVoxelGrid

(

void

)

Definition at line 61 of file spatio_temporal_voxel_grid.cpp.

Member Function Documentation

void volume_grid::SpatioTemporalVoxelGrid::ClearFrustums

(

const std::vector< observation::MeasurementReading > &

clearing_observations

)

Definition at line 96 of file spatio_temporal_voxel_grid.cpp.

bool volume_grid::SpatioTemporalVoxelGrid::ClearGridPoint ( const openvdb::Coord &  pt ) const

protected

Definition at line 393 of file spatio_temporal_voxel_grid.cpp.

std::unordered_map< occupany_cell, uint > * volume_grid::SpatioTemporalVoxelGrid::GetFlattenedCostmap

(

)

Definition at line 315 of file spatio_temporal_voxel_grid.cpp.

double volume_grid::SpatioTemporalVoxelGrid::GetFrustumAcceleration ( const double &  time_delta, const double &  acceleration_factor  )

protected

Definition at line 338 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::GetOccupancyPointCloud

(

pcl::PointCloud< pcl::PointXYZ >::Ptr &

pc

)

Definition at line 349 of file spatio_temporal_voxel_grid.cpp.

double volume_grid::SpatioTemporalVoxelGrid::GetTemporalClearingDuration ( const double &  time_delta )

protected

Definition at line 322 of file spatio_temporal_voxel_grid.cpp.

openvdb::Vec3d volume_grid::SpatioTemporalVoxelGrid::IndexToWorld ( const openvdb::Coord &  coord ) const

protected

Definition at line 407 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::InitializeGrid ( void  )

protected

Definition at line 72 of file spatio_temporal_voxel_grid.cpp.

bool volume_grid::SpatioTemporalVoxelGrid::IsGridEmpty ( void  ) const

protected

Definition at line 425 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::Mark

(

const std::vector< observation::MeasurementReading > &

marking_observations

)

Definition at line 262 of file spatio_temporal_voxel_grid.cpp.

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

protected

Definition at line 381 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::operator()

(

const observation::MeasurementReading &

obs

)

const

Definition at line 281 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::PopulateCostmapAndPointcloud ( const openvdb::Coord &  pt )

protected

Definition at line 235 of file spatio_temporal_voxel_grid.cpp.

bool volume_grid::SpatioTemporalVoxelGrid::ResetGrid

(

void

)

Definition at line 359 of file spatio_temporal_voxel_grid.cpp.

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

Definition at line 433 of file spatio_temporal_voxel_grid.cpp.

void volume_grid::SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap ( std::vector< frustum_model > &  frustums )

protected

Definition at line 159 of file spatio_temporal_voxel_grid.cpp.

openvdb::Vec3d volume_grid::SpatioTemporalVoxelGrid::WorldToIndex ( const openvdb::Vec3d &  coord ) const

protected

Definition at line 416 of file spatio_temporal_voxel_grid.cpp.

Member Data Documentation

double volume_grid::SpatioTemporalVoxelGrid::_background_value

protected

Definition at line 169 of file spatio_temporal_voxel_grid.hpp.

std::unordered_map<occupany_cell, uint>* volume_grid::SpatioTemporalVoxelGrid::_cost_map

protected

Definition at line 172 of file spatio_temporal_voxel_grid.hpp.

GlobalDecayModel volume_grid::SpatioTemporalVoxelGrid::_decay_model

protected

Definition at line 168 of file spatio_temporal_voxel_grid.hpp.

openvdb::DoubleGrid::Ptr volume_grid::SpatioTemporalVoxelGrid::_grid

mutableprotected

Definition at line 167 of file spatio_temporal_voxel_grid.hpp.

boost::mutex volume_grid::SpatioTemporalVoxelGrid::_grid_lock

protected

Definition at line 173 of file spatio_temporal_voxel_grid.hpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr volume_grid::SpatioTemporalVoxelGrid::_pc

protected

Definition at line 171 of file spatio_temporal_voxel_grid.hpp.

bool volume_grid::SpatioTemporalVoxelGrid::_pub_voxels

protected

Definition at line 170 of file spatio_temporal_voxel_grid.hpp.

double volume_grid::SpatioTemporalVoxelGrid::_voxel_decay

protected

Definition at line 169 of file spatio_temporal_voxel_grid.hpp.

double volume_grid::SpatioTemporalVoxelGrid::_voxel_size

protected

Definition at line 169 of file spatio_temporal_voxel_grid.hpp.

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

• spatio_temporal_voxel_grid.hpp
• spatio_temporal_voxel_grid.cpp