#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_set< occupany_cell > &cleared_cells)

std::unordered_map< occupany_cell, uint > *	GetFlattenedCostmap ()

void	GetOccupancyPointCloud (sensor_msgs::PointCloud2::Ptr &pc2)

void	Mark (const std::vector< observation::MeasurementReading > &marking_observations)

void	operator() (const observation::MeasurementReading &obs) const

bool	ResetGrid (void)

void	ResetGridArea (const occupany_cell &start, const occupany_cell &end, bool invert_area=false)

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

	SpatioTemporalVoxelGrid (const float &voxel_size, const double &background_value, const int &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, std::unordered_set< occupany_cell > &cleared_cells)

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

Protected Attributes
double	_background_value

std::unordered_map< occupany_cell, uint > *	_cost_map

int	_decay_model

openvdb::DoubleGrid::Ptr	_grid

boost::mutex	_grid_lock

std::vector< geometry_msgs::Point32 > *	_grid_points

bool	_pub_voxels

double	_voxel_decay

double	_voxel_size

Detailed Description

Definition at line 157 of file spatio_temporal_voxel_grid.hpp.

Member Typedef Documentation

◆ GridRay

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

Definition at line 161 of file spatio_temporal_voxel_grid.hpp.

◆ Vec3Type

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

Definition at line 162 of file spatio_temporal_voxel_grid.hpp.

Constructor & Destructor Documentation

◆ SpatioTemporalVoxelGrid()

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

Definition at line 79 of file spatio_temporal_voxel_grid.cpp.

◆ ~SpatioTemporalVoxelGrid()

volume_grid::SpatioTemporalVoxelGrid::~SpatioTemporalVoxelGrid ( void )

Definition at line 95 of file spatio_temporal_voxel_grid.cpp.

Member Function Documentation

◆ ClearFrustums()

void volume_grid::SpatioTemporalVoxelGrid::ClearFrustums	(	const std::vector< observation::MeasurementReading > &	clearing_observations,
		std::unordered_set< occupany_cell > &	cleared_cells
	)

Definition at line 136 of file spatio_temporal_voxel_grid.cpp.

◆ ClearGridPoint()

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

protected

Definition at line 513 of file spatio_temporal_voxel_grid.cpp.

◆ GetFlattenedCostmap()

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

Definition at line 387 of file spatio_temporal_voxel_grid.cpp.

◆ GetFrustumAcceleration()

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

protected

Definition at line 410 of file spatio_temporal_voxel_grid.cpp.

◆ GetOccupancyPointCloud()

void volume_grid::SpatioTemporalVoxelGrid::GetOccupancyPointCloud ( sensor_msgs::PointCloud2::Ptr & pc2 )

Definition at line 421 of file spatio_temporal_voxel_grid.cpp.

◆ GetTemporalClearingDuration()

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

protected

Definition at line 394 of file spatio_temporal_voxel_grid.cpp.

◆ IndexToWorld()

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

protected

Definition at line 527 of file spatio_temporal_voxel_grid.cpp.

◆ InitializeGrid()

void volume_grid::SpatioTemporalVoxelGrid::InitializeGrid ( void )

protected

Definition at line 111 of file spatio_temporal_voxel_grid.cpp.

◆ IsGridEmpty()

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

protected

Definition at line 553 of file spatio_temporal_voxel_grid.cpp.

◆ Mark()

void volume_grid::SpatioTemporalVoxelGrid::Mark ( const std::vector< observation::MeasurementReading > & marking_observations )

Definition at line 324 of file spatio_temporal_voxel_grid.cpp.

◆ MarkGridPoint()

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

protected

Definition at line 501 of file spatio_temporal_voxel_grid.cpp.

◆ operator()()

void volume_grid::SpatioTemporalVoxelGrid::operator() ( const observation::MeasurementReading & obs ) const

Definition at line 343 of file spatio_temporal_voxel_grid.cpp.

◆ PopulateCostmapAndPointcloud()

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

protected

Definition at line 294 of file spatio_temporal_voxel_grid.cpp.

◆ ResetGrid()

bool volume_grid::SpatioTemporalVoxelGrid::ResetGrid ( void )

Definition at line 456 of file spatio_temporal_voxel_grid.cpp.

◆ ResetGridArea()

void volume_grid::SpatioTemporalVoxelGrid::ResetGridArea	(	const occupany_cell &	start,
		const occupany_cell &	end,
		bool	invert_area = `false`
	)

Definition at line 478 of file spatio_temporal_voxel_grid.cpp.

◆ SaveGrid()

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

Definition at line 561 of file spatio_temporal_voxel_grid.cpp.

◆ TemporalClearAndGenerateCostmap()

void volume_grid::SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap	(	std::vector< frustum_model > &	frustums,
		std::unordered_set< occupany_cell > &	cleared_cells
	)

protected

Definition at line 202 of file spatio_temporal_voxel_grid.cpp.

◆ WorldToIndex()

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

protected

Definition at line 544 of file spatio_temporal_voxel_grid.cpp.

Member Data Documentation

◆ _background_value

double volume_grid::SpatioTemporalVoxelGrid::_background_value

protected

Definition at line 213 of file spatio_temporal_voxel_grid.hpp.

◆ _cost_map

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

protected

Definition at line 216 of file spatio_temporal_voxel_grid.hpp.

◆ _decay_model

int volume_grid::SpatioTemporalVoxelGrid::_decay_model

protected

Definition at line 212 of file spatio_temporal_voxel_grid.hpp.

◆ _grid

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

mutableprotected

Definition at line 211 of file spatio_temporal_voxel_grid.hpp.

◆ _grid_lock

boost::mutex volume_grid::SpatioTemporalVoxelGrid::_grid_lock

protected

Definition at line 217 of file spatio_temporal_voxel_grid.hpp.

◆ _grid_points

std::vector<geometry_msgs::Point32>* volume_grid::SpatioTemporalVoxelGrid::_grid_points

protected

Definition at line 215 of file spatio_temporal_voxel_grid.hpp.

◆ _pub_voxels

bool volume_grid::SpatioTemporalVoxelGrid::_pub_voxels

protected

Definition at line 214 of file spatio_temporal_voxel_grid.hpp.

◆ _voxel_decay

double volume_grid::SpatioTemporalVoxelGrid::_voxel_decay

protected

Definition at line 213 of file spatio_temporal_voxel_grid.hpp.

◆ _voxel_size

double volume_grid::SpatioTemporalVoxelGrid::_voxel_size

protected

Definition at line 213 of file spatio_temporal_voxel_grid.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GridRay

◆ Vec3Type

Constructor & Destructor Documentation

◆ SpatioTemporalVoxelGrid()

◆ ~SpatioTemporalVoxelGrid()

Member Function Documentation

◆ ClearFrustums()

◆ ClearGridPoint()

◆ GetFlattenedCostmap()

◆ GetFrustumAcceleration()

◆ GetOccupancyPointCloud()

◆ GetTemporalClearingDuration()

◆ IndexToWorld()

◆ InitializeGrid()

◆ IsGridEmpty()

◆ Mark()

◆ MarkGridPoint()

◆ operator()()

◆ PopulateCostmapAndPointcloud()

◆ ResetGrid()

◆ ResetGridArea()

◆ SaveGrid()

◆ TemporalClearAndGenerateCostmap()

◆ WorldToIndex()

Member Data Documentation

◆ _background_value

◆ _cost_map

◆ _decay_model

◆ _grid

◆ _grid_lock

◆ _grid_points

◆ _pub_voxels

◆ _voxel_decay

◆ _voxel_size