voxel_grid::VoxelGrid Class Reference

#include <voxel_grid.h>

Classes
class	ClearVoxel
class	ClearVoxelInMap
class	GridOffset
class	MarkVoxel
class	ZOffset

Public Member Functions
bool	bitsBelowThreshold (unsigned int n, unsigned int bit_threshold)
void	clearVoxel (unsigned int x, unsigned int y, unsigned int z)
void	clearVoxelColumn (unsigned int index)
void	clearVoxelInMap (unsigned int x, unsigned int y, unsigned int z)
void	clearVoxelLine (double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX)
void	clearVoxelLineInMap (double x0, double y0, double z0, double x1, double y1, double z1, unsigned char *map_2d, unsigned int unknown_threshold, unsigned int mark_threshold, unsigned char free_cost=0, unsigned char unknown_cost=255, unsigned int max_length=UINT_MAX)
uint32_t *	getData ()
VoxelStatus	getVoxel (unsigned int x, unsigned int y, unsigned int z)
VoxelStatus	getVoxelColumn (unsigned int x, unsigned int y, unsigned int unknown_threshold=0, unsigned int marked_threshold=0)
void	markVoxel (unsigned int x, unsigned int y, unsigned int z)
bool	markVoxelInMap (unsigned int x, unsigned int y, unsigned int z, unsigned int marked_threshold)
void	markVoxelLine (double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX)
void	printColumnGrid ()
void	printVoxelGrid ()
template<class ActionType >
void	raytraceLine (ActionType at, double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX)
void	reset ()
void	resize (unsigned int size_x, unsigned int size_y, unsigned int size_z)
	Resizes a voxel grid to the desired size. More...
unsigned int	sizeX ()
unsigned int	sizeY ()
unsigned int	sizeZ ()
	VoxelGrid (unsigned int size_x, unsigned int size_y, unsigned int size_z)
	Constructor for a voxel grid. More...
	~VoxelGrid ()

Static Public Member Functions
static VoxelStatus	getVoxel (unsigned int x, unsigned int y, unsigned int z, unsigned int size_x, unsigned int size_y, unsigned int size_z, const uint32_t *data)
static unsigned int	numBits (unsigned int n)

Private Member Functions
template<class ActionType , class OffA , class OffB , class OffC >
void	bresenham3D (ActionType at, OffA off_a, OffB off_b, OffC off_c, unsigned int abs_da, unsigned int abs_db, unsigned int abs_dc, int error_b, int error_c, int offset_a, int offset_b, int offset_c, unsigned int &offset, unsigned int &z_mask, unsigned int max_length=UINT_MAX)
unsigned int	max (unsigned int x, unsigned int y)
int	sign (int i)

Private Attributes
unsigned char *	costmap
uint32_t *	data_
unsigned int	size_x_
unsigned int	size_y_
unsigned int	size_z_

Detailed Description

Definition at line 65 of file voxel_grid.h.

Constructor & Destructor Documentation

VoxelGrid::VoxelGrid	(	unsigned int	size_x,
		unsigned int	size_y,
		unsigned int	size_z
	)

Constructor for a voxel grid.

Parameters

size_x	The x size of the grid
size_y	The y size of the grid
size_z	The z size of the grid, only sizes <= 16 are supported

Definition at line 42 of file voxel_grid.cpp.

VoxelGrid::~VoxelGrid

(

)

Definition at line 89 of file voxel_grid.cpp.

Member Function Documentation

bool voxel_grid::VoxelGrid::bitsBelowThreshold ( unsigned int  n, unsigned int  bit_threshold  )

inline

Definition at line 158 of file voxel_grid.h.

template<class ActionType , class OffA , class OffB , class OffC >

void voxel_grid::VoxelGrid::bresenham3D ( ActionType  at, OffA  off_a, OffB  off_b, OffC  off_c, unsigned int  abs_da, unsigned int  abs_db, unsigned int  abs_dc, int  error_b, int  error_c, int  offset_a, int  offset_b, int  offset_c, unsigned int &  offset, unsigned int &  z_mask, unsigned int  max_length = UINT_MAX  )

inlineprivate

Definition at line 283 of file voxel_grid.h.

void voxel_grid::VoxelGrid::clearVoxel ( unsigned int  x, unsigned int  y, unsigned int  z  )

inline

Definition at line 119 of file voxel_grid.h.

void voxel_grid::VoxelGrid::clearVoxelColumn ( unsigned int  index )

inline

Definition at line 130 of file voxel_grid.h.

void voxel_grid::VoxelGrid::clearVoxelInMap ( unsigned int  x, unsigned int  y, unsigned int  z  )

inline

Definition at line 136 of file voxel_grid.h.

void VoxelGrid::clearVoxelLine	(	double	x0,
		double	y0,
		double	z0,
		double	x1,
		double	y1,
		double	z1,
		unsigned int	max_length = UINT_MAX
	)

Definition at line 114 of file voxel_grid.cpp.

void VoxelGrid::clearVoxelLineInMap	(	double	x0,
		double	y0,
		double	z0,
		double	x1,
		double	y1,
		double	z1,
		unsigned char *	map_2d,
		unsigned int	unknown_threshold,
		unsigned int	mark_threshold,
		unsigned char	free_cost = 0,
		unsigned char	unknown_cost = 255,
		unsigned int	max_length = UINT_MAX
	)

Definition at line 125 of file voxel_grid.cpp.

uint32_t* voxel_grid::VoxelGrid::getData ( )

inline

Definition at line 87 of file voxel_grid.h.

static VoxelStatus voxel_grid::VoxelGrid::getVoxel ( unsigned int  x, unsigned int  y, unsigned int  z, unsigned int  size_x, unsigned int  size_y, unsigned int  size_z, const uint32_t *  data  )

inlinestatic

Definition at line 183 of file voxel_grid.h.

VoxelStatus VoxelGrid::getVoxel	(	unsigned int	x,
		unsigned int	y,
		unsigned int	z
	)

Definition at line 143 of file voxel_grid.cpp.

VoxelStatus VoxelGrid::getVoxelColumn	(	unsigned int	x,
		unsigned int	y,
		unsigned int	unknown_threshold = 0,
		unsigned int	marked_threshold = 0
	)

Definition at line 164 of file voxel_grid.cpp.

void voxel_grid::VoxelGrid::markVoxel ( unsigned int  x, unsigned int  y, unsigned int  z  )

inline

Definition at line 89 of file voxel_grid.h.

bool voxel_grid::VoxelGrid::markVoxelInMap ( unsigned int  x, unsigned int  y, unsigned int  z, unsigned int  marked_threshold  )

inline

Definition at line 100 of file voxel_grid.h.

void VoxelGrid::markVoxelLine	(	double	x0,
		double	y0,
		double	z0,
		double	x1,
		double	y1,
		double	z1,
		unsigned int	max_length = UINT_MAX
	)

Definition at line 103 of file voxel_grid.cpp.

unsigned int voxel_grid::VoxelGrid::max ( unsigned int  x, unsigned int  y  )

inlineprivate

Definition at line 315 of file voxel_grid.h.

static unsigned int voxel_grid::VoxelGrid::numBits ( unsigned int  n )

inlinestatic

Definition at line 173 of file voxel_grid.h.

void VoxelGrid::printColumnGrid

(

)

Definition at line 212 of file voxel_grid.cpp.

void VoxelGrid::printVoxelGrid

(

)

Definition at line 200 of file voxel_grid.cpp.

template<class ActionType >

void voxel_grid::VoxelGrid::raytraceLine ( ActionType  at, double  x0, double  y0, double  z0, double  x1, double  y1, double  z1, unsigned int  max_length = UINT_MAX  )

inline

Definition at line 227 of file voxel_grid.h.

void VoxelGrid::reset

(

)

Definition at line 94 of file voxel_grid.cpp.

void VoxelGrid::resize	(	unsigned int	size_x,
		unsigned int	size_y,
		unsigned int	size_z
	)

Resizes a voxel grid to the desired size.

Parameters

size_x	The x size of the grid
size_y	The y size of the grid
size_z	The z size of the grid, only sizes <= 16 are supported

Definition at line 62 of file voxel_grid.cpp.

int voxel_grid::VoxelGrid::sign ( int  i )

inlineprivate

Definition at line 310 of file voxel_grid.h.

unsigned int VoxelGrid::sizeX

(

)

Definition at line 188 of file voxel_grid.cpp.

unsigned int VoxelGrid::sizeY

(

)

Definition at line 192 of file voxel_grid.cpp.

unsigned int VoxelGrid::sizeZ

(

)

Definition at line 196 of file voxel_grid.cpp.

Member Data Documentation

unsigned char* voxel_grid::VoxelGrid::costmap

private

Definition at line 322 of file voxel_grid.h.

uint32_t* voxel_grid::VoxelGrid::data_

private

Definition at line 321 of file voxel_grid.h.

unsigned int voxel_grid::VoxelGrid::size_x_

private

Definition at line 320 of file voxel_grid.h.

unsigned int voxel_grid::VoxelGrid::size_y_

private

Definition at line 320 of file voxel_grid.h.

unsigned int voxel_grid::VoxelGrid::size_z_

private

Definition at line 320 of file voxel_grid.h.

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

• voxel_grid.h
• voxel_grid.cpp