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Eigen::KdBVH< _Scalar, _Dim, _Object > Class Template Reference

A simple bounding volume hierarchy based on AlignedBox. More...

#include <KdBVH.h>

Classes

struct  VectorComparator
 

Public Types

enum  { Dim = _Dim }
 
typedef int Index
 
typedef _Object Object
 
typedef const ObjectObjectIterator
 
typedef std::vector< Object, aligned_allocator< Object > > ObjectList
 
typedef _Scalar Scalar
 
typedef AlignedBox< Scalar, DimVolume
 
typedef const intVolumeIterator
 
typedef std::vector< Volume, aligned_allocator< Volume > > VolumeList
 

Public Member Functions

EIGEN_STRONG_INLINE void getChildren (Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd, ObjectIterator &outOBegin, ObjectIterator &outOEnd) const
 
Index getRootIndex () const
 
const VolumegetVolume (Index index) const
 
template<typename Iter >
void init (Iter begin, Iter end)
 
template<typename OIter , typename BIter >
void init (OIter begin, OIter end, BIter boxBegin, BIter boxEnd)
 
 KdBVH ()
 
template<typename Iter >
 KdBVH (Iter begin, Iter end)
 
template<typename OIter , typename BIter >
 KdBVH (OIter begin, OIter end, BIter boxBegin, BIter boxEnd)
 

Private Types

typedef Matrix< Scalar, Dim, 1 > VectorType
 
typedef internal::vector_int_pair< Scalar, DimVIPair
 
typedef std::vector< VIPair, aligned_allocator< VIPair > > VIPairList
 

Private Member Functions

void build (VIPairList &objCenters, int from, int to, const VolumeList &objBoxes, int dim)
 

Private Attributes

VolumeList boxes
 
std::vector< intchildren
 
ObjectList objects
 

Detailed Description

template<typename _Scalar, int _Dim, typename _Object>
class Eigen::KdBVH< _Scalar, _Dim, _Object >

A simple bounding volume hierarchy based on AlignedBox.

Parameters
_ScalarThe underlying scalar type of the bounding boxes
_DimThe dimension of the space in which the hierarchy lives
_ObjectThe object type that lives in the hierarchy. It must have value semantics. Either bounding_box(_Object) must be defined and return an AlignedBox<_Scalar, _Dim> or bounding boxes must be provided to the tree initializer.

This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a Kd-tree. Given a sequence of objects, it computes their bounding boxes, constructs a Kd-tree of their centers and builds a BVH with the structure of that Kd-tree. When the elements of the tree are too expensive to be copied around, it is useful for _Object to be a pointer.

Definition at line 68 of file KdBVH.h.

Member Typedef Documentation

◆ Index

template<typename _Scalar, int _Dim, typename _Object>
typedef int Eigen::KdBVH< _Scalar, _Dim, _Object >::Index

Definition at line 77 of file KdBVH.h.

◆ Object

template<typename _Scalar, int _Dim, typename _Object>
typedef _Object Eigen::KdBVH< _Scalar, _Dim, _Object >::Object

Definition at line 72 of file KdBVH.h.

◆ ObjectIterator

template<typename _Scalar, int _Dim, typename _Object>
typedef const Object* Eigen::KdBVH< _Scalar, _Dim, _Object >::ObjectIterator

Definition at line 79 of file KdBVH.h.

◆ ObjectList

template<typename _Scalar, int _Dim, typename _Object>
typedef std::vector<Object, aligned_allocator<Object> > Eigen::KdBVH< _Scalar, _Dim, _Object >::ObjectList

Definition at line 73 of file KdBVH.h.

◆ Scalar

template<typename _Scalar, int _Dim, typename _Object>
typedef _Scalar Eigen::KdBVH< _Scalar, _Dim, _Object >::Scalar

Definition at line 74 of file KdBVH.h.

◆ VectorType

template<typename _Scalar, int _Dim, typename _Object>
typedef Matrix<Scalar, Dim, 1> Eigen::KdBVH< _Scalar, _Dim, _Object >::VectorType
private

Definition at line 173 of file KdBVH.h.

◆ VIPair

template<typename _Scalar, int _Dim, typename _Object>
typedef internal::vector_int_pair<Scalar, Dim> Eigen::KdBVH< _Scalar, _Dim, _Object >::VIPair
private

Definition at line 171 of file KdBVH.h.

◆ VIPairList

template<typename _Scalar, int _Dim, typename _Object>
typedef std::vector<VIPair, aligned_allocator<VIPair> > Eigen::KdBVH< _Scalar, _Dim, _Object >::VIPairList
private

Definition at line 172 of file KdBVH.h.

◆ Volume

template<typename _Scalar, int _Dim, typename _Object>
typedef AlignedBox<Scalar, Dim> Eigen::KdBVH< _Scalar, _Dim, _Object >::Volume

Definition at line 75 of file KdBVH.h.

◆ VolumeIterator

template<typename _Scalar, int _Dim, typename _Object>
typedef const int* Eigen::KdBVH< _Scalar, _Dim, _Object >::VolumeIterator

Definition at line 78 of file KdBVH.h.

◆ VolumeList

template<typename _Scalar, int _Dim, typename _Object>
typedef std::vector<Volume, aligned_allocator<Volume> > Eigen::KdBVH< _Scalar, _Dim, _Object >::VolumeList

Definition at line 76 of file KdBVH.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Dim, typename _Object>
anonymous enum
Enumerator
Dim 

Definition at line 71 of file KdBVH.h.

Constructor & Destructor Documentation

◆ KdBVH() [1/3]

template<typename _Scalar, int _Dim, typename _Object>
Eigen::KdBVH< _Scalar, _Dim, _Object >::KdBVH ( )
inline

Definition at line 81 of file KdBVH.h.

◆ KdBVH() [2/3]

template<typename _Scalar, int _Dim, typename _Object>
template<typename Iter >
Eigen::KdBVH< _Scalar, _Dim, _Object >::KdBVH ( Iter  begin,
Iter  end 
)
inline

Given an iterator range over Object references, constructs the BVH. Requires that bounding_box(Object) return a Volume.

Definition at line 84 of file KdBVH.h.

◆ KdBVH() [3/3]

template<typename _Scalar, int _Dim, typename _Object>
template<typename OIter , typename BIter >
Eigen::KdBVH< _Scalar, _Dim, _Object >::KdBVH ( OIter  begin,
OIter  end,
BIter  boxBegin,
BIter  boxEnd 
)
inline

Given an iterator range over Object references and an iterator range over their bounding boxes, constructs the BVH

Definition at line 87 of file KdBVH.h.

Member Function Documentation

◆ build()

template<typename _Scalar, int _Dim, typename _Object>
void Eigen::KdBVH< _Scalar, _Dim, _Object >::build ( VIPairList objCenters,
int  from,
int  to,
const VolumeList objBoxes,
int  dim 
)
inlineprivate

Definition at line 184 of file KdBVH.h.

◆ getChildren()

template<typename _Scalar, int _Dim, typename _Object>
EIGEN_STRONG_INLINE void Eigen::KdBVH< _Scalar, _Dim, _Object >::getChildren ( Index  index,
VolumeIterator outVBegin,
VolumeIterator outVEnd,
ObjectIterator outOBegin,
ObjectIterator outOEnd 
) const
inline

Given an index of a node, on exit, outVBegin and outVEnd range over the indices of the volume children of the node and outOBegin and outOEnd range over the object children of the node

Definition at line 133 of file KdBVH.h.

◆ getRootIndex()

template<typename _Scalar, int _Dim, typename _Object>
Index Eigen::KdBVH< _Scalar, _Dim, _Object >::getRootIndex ( ) const
inline
Returns
the index of the root of the hierarchy

Definition at line 129 of file KdBVH.h.

◆ getVolume()

template<typename _Scalar, int _Dim, typename _Object>
const Volume& Eigen::KdBVH< _Scalar, _Dim, _Object >::getVolume ( Index  index) const
inline
Returns
the bounding box of the node at index

Definition at line 165 of file KdBVH.h.

◆ init() [1/2]

template<typename _Scalar, int _Dim, typename _Object>
template<typename Iter >
void Eigen::KdBVH< _Scalar, _Dim, _Object >::init ( Iter  begin,
Iter  end 
)
inline

Given an iterator range over Object references, constructs the BVH, overwriting whatever is in there currently. Requires that bounding_box(Object) return a Volume.

Definition at line 91 of file KdBVH.h.

◆ init() [2/2]

template<typename _Scalar, int _Dim, typename _Object>
template<typename OIter , typename BIter >
void Eigen::KdBVH< _Scalar, _Dim, _Object >::init ( OIter  begin,
OIter  end,
BIter  boxBegin,
BIter  boxEnd 
)
inline

Given an iterator range over Object references and an iterator range over their bounding boxes, constructs the BVH, overwriting whatever is in there currently.

Definition at line 95 of file KdBVH.h.

Member Data Documentation

◆ boxes

template<typename _Scalar, int _Dim, typename _Object>
VolumeList Eigen::KdBVH< _Scalar, _Dim, _Object >::boxes
private

Definition at line 217 of file KdBVH.h.

◆ children

template<typename _Scalar, int _Dim, typename _Object>
std::vector<int> Eigen::KdBVH< _Scalar, _Dim, _Object >::children
private

Definition at line 216 of file KdBVH.h.

◆ objects

template<typename _Scalar, int _Dim, typename _Object>
ObjectList Eigen::KdBVH< _Scalar, _Dim, _Object >::objects
private

Definition at line 218 of file KdBVH.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:41:50