A spatial index represented as a grid map. More...

#include <lazy_grid.h>

Inheritance diagram for lslgeneric::LazyGrid< PointT >:

Public Member Functions
virtual Cell< PointT > *	addPoint (const PointT &point)
	add a point and get back the pointer to the cell in which it ended up
virtual SpatialIndex< PointT > ::CellVectorItr	begin ()
	iterator through all cells in index, points at the begining
virtual SpatialIndex< PointT > *	clone () const
	clone - create an empty object with same type
virtual SpatialIndex< PointT > *	copy () const
	copy - create the same object as a new instance
virtual SpatialIndex< PointT > ::CellVectorItr	end ()
	iterator through all cells in index, points at the end
virtual void	getCellAt (int indX, int indY, int indZ, Cell< PointT > *&cell)
virtual void	getCellAt (const PointT &pt, Cell< PointT > *&cell)
virtual Cell< PointT > *	getCellForPoint (const PointT &point)
void	getCellSize (double &cx, double &cy, double &cz)
void	getCenter (double &cx, double &cy, double &cz)
virtual std::vector< NDTCell < PointT > * >	getClosestCells (const PointT &pt)
virtual NDTCell< PointT > *	getClosestNDTCell (const PointT &pt, bool checkForGaussian=true)
virtual std::vector< NDTCell < PointT > * >	getClosestNDTCells (const PointT &pt, int &n_neigh, bool checkForGaussian=true)
Cell< PointT > ****	getDataArrayPtr ()
void	getGridSize (int &cx, int &cy, int &cz)
void	getGridSizeInMeters (double &cx, double &cy, double &cz)
virtual void	getIndexForPoint (const PointT &pt, int &idx, int &idy, int &idz)
virtual void	getNDTCellAt (int indX, int indY, int indZ, NDTCell< PointT > *&cell)
virtual void	getNDTCellAt (const PointT &pt, NDTCell< PointT > *&cell)
virtual void	getNeighbors (const PointT &point, const double &radius, std::vector< Cell< PointT > * > &cells)
	method to return all cells within a certain radius from a point
Cell< PointT > *	getProtoType ()
virtual void	initialize ()
virtual void	initializeAll ()
bool	isInside (const PointT &pt)
	LazyGrid (double cellSize)
	LazyGrid (LazyGrid *prot)
	LazyGrid (double sizeXmeters, double sizeYmeters, double sizeZmeters, double cellSizeX, double cellSizeY, double cellSizeZ, double _centerX, double _centerY, double _centerZ, Cell< PointT > *cellPrototype)
virtual int	loadFromJFF (FILE *jffin)
	reads map contents from .jff file
virtual void	setCellType (Cell< PointT > *type)
	sets the cell factory type
virtual void	setCenter (const double &cx, const double &cy, const double &cz)
virtual void	setSize (const double &sx, const double &sy, const double &sz)
virtual int	size ()
bool	traceLine (const Eigen::Vector3d &origin, const PointT &endpoint, const Eigen::Vector3d &diff, const double &maxz, std::vector< NDTCell< PointT > * > &cells)
bool	traceLineWithEndpoint (const Eigen::Vector3d &origin, const PointT &endpoint, const Eigen::Vector3d &diff, const double &maxz, std::vector< NDTCell< PointT > * > &cells, Eigen::Vector3d &final_point)
virtual	~LazyGrid ()
Protected Member Functions
virtual bool	checkCellforNDT (int indX, int indY, int indZ, bool checkForGaussian=true)
Protected Attributes
std::vector< Cell< PointT > * >	activeCells
double	cellSizeX
double	cellSizeY
double	cellSizeZ
bool	centerIsSet
double	centerX
double	centerY
double	centerZ
Cell< PointT > ****	dataArray
bool	initialized
Cell< PointT > *	protoType
bool	sizeIsSet
int	sizeX
double	sizeXmeters
int	sizeY
double	sizeYmeters
int	sizeZ
double	sizeZmeters

Detailed Description

template<typename PointT>
class lslgeneric::LazyGrid< PointT >

A spatial index represented as a grid map.

A grid map with delayed allocation of cells.

Definition at line 48 of file lazy_grid.h.

Constructor & Destructor Documentation

template<typename PointT >

lslgeneric::LazyGrid< PointT >::LazyGrid ( double cellSize )

Definition at line 10 of file lazy_grid.hpp.

template<typename PointT>

lslgeneric::LazyGrid< PointT >::LazyGrid ( LazyGrid< PointT > * prot )

template<typename PointT >

lslgeneric::LazyGrid< PointT >::LazyGrid	(	double	sizeXmeters,
		double	sizeYmeters,
		double	sizeZmeters,
		double	cellSizeX,
		double	cellSizeY,
		double	cellSizeZ,
		double	_centerX,
		double	_centerY,
		double	_centerZ,
		Cell< PointT > *	cellPrototype
	)

Definition at line 45 of file lazy_grid.hpp.

template<typename PointT >

lslgeneric::LazyGrid< PointT >::~LazyGrid ( ) [virtual]

Definition at line 164 of file lazy_grid.hpp.

Member Function Documentation

template<typename PointT >

Cell< PointT > * lslgeneric::LazyGrid< PointT >::addPoint ( const PointT & point ) [virtual]

add a point and get back the pointer to the cell in which it ended up

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 217 of file lazy_grid.hpp.

template<typename PointT >

SpatialIndex< PointT >::CellVectorItr lslgeneric::LazyGrid< PointT >::begin ( ) [virtual]

iterator through all cells in index, points at the begining

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 285 of file lazy_grid.hpp.

template<typename PointT >

bool lslgeneric::LazyGrid< PointT >::checkCellforNDT	(	int	indX,
		int	indY,
		int	indZ,
		bool	checkForGaussian = `true`
	)		`[protected, virtual]`

Definition at line 616 of file lazy_grid.hpp.

template<typename PointT >

SpatialIndex< PointT > * lslgeneric::LazyGrid< PointT >::clone ( ) const [virtual]

clone - create an empty object with same type

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 303 of file lazy_grid.hpp.

template<typename PointT >

SpatialIndex< PointT > * lslgeneric::LazyGrid< PointT >::copy ( ) const [virtual]

copy - create the same object as a new instance

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 309 of file lazy_grid.hpp.

template<typename PointT >

SpatialIndex< PointT >::CellVectorItr lslgeneric::LazyGrid< PointT >::end ( ) [virtual]

iterator through all cells in index, points at the end

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 291 of file lazy_grid.hpp.

template<typename PointT>

virtual void lslgeneric::LazyGrid< PointT >::getCellAt	(	int	indX,
		int	indY,
		int	indZ,
		Cell< PointT > *&	cell
	)		`[inline, virtual]`

Definition at line 86 of file lazy_grid.h.

template<typename PointT>

virtual void lslgeneric::LazyGrid< PointT >::getCellAt	(	const PointT &	pt,
		Cell< PointT > *&	cell
	)		`[inline, virtual]`

Definition at line 94 of file lazy_grid.h.

template<typename PointT >

Cell< PointT > * lslgeneric::LazyGrid< PointT >::getCellForPoint ( const PointT & point ) [virtual]

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 200 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getCellSize	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 662 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getCenter	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 670 of file lazy_grid.hpp.

template<typename PointT >

std::vector< NDTCell< PointT > * > lslgeneric::LazyGrid< PointT >::getClosestCells ( const PointT & pt ) [virtual]

Definition at line 396 of file lazy_grid.hpp.

template<typename PointT >

NDTCell< PointT > * lslgeneric::LazyGrid< PointT >::getClosestNDTCell	(	const PointT &	pt,
		bool	checkForGaussian = `true`
	)		`[virtual]`

Definition at line 527 of file lazy_grid.hpp.

template<typename PointT >

std::vector< NDTCell< PointT > * > lslgeneric::LazyGrid< PointT >::getClosestNDTCells	(	const PointT &	pt,
		int &	n_neigh,
		bool	checkForGaussian = `true`
	)		`[virtual]`

Definition at line 429 of file lazy_grid.hpp.

template<typename PointT>

Cell<PointT>**** lslgeneric::LazyGrid< PointT >::getDataArrayPtr ( ) [inline]

Definition at line 127 of file lazy_grid.h.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getGridSize	(	int &	cx,
		int &	cy,
		int &	cz
	)

Definition at line 679 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getGridSizeInMeters	(	double &	cx,
		double &	cy,
		double &	cz
	)

Definition at line 687 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getIndexForPoint	(	const PointT &	pt,
		int &	idx,
		int &	idy,
		int &	idz
	)		`[inline, virtual]`

Definition at line 357 of file lazy_grid.hpp.

template<typename PointT>

virtual void lslgeneric::LazyGrid< PointT >::getNDTCellAt	(	int	indX,
		int	indY,
		int	indZ,
		NDTCell< PointT > *&	cell
	)		`[inline, virtual]`

Definition at line 99 of file lazy_grid.h.

template<typename PointT>

virtual void lslgeneric::LazyGrid< PointT >::getNDTCellAt	(	const PointT &	pt,
		NDTCell< PointT > *&	cell
	)		`[inline, virtual]`

Definition at line 106 of file lazy_grid.h.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::getNeighbors	(	const PointT &	point,
		const double &	radius,
		std::vector< Cell< PointT > * > &	cells
	)		`[virtual]`

method to return all cells within a certain radius from a point

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 328 of file lazy_grid.hpp.

template<typename PointT>

Cell<PointT>* lslgeneric::LazyGrid< PointT >::getProtoType ( ) [inline]

Definition at line 118 of file lazy_grid.h.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::initialize ( ) [virtual]

Definition at line 142 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::initializeAll ( ) [virtual]

Definition at line 107 of file lazy_grid.hpp.

template<typename PointT>

bool lslgeneric::LazyGrid< PointT >::isInside ( const PointT & pt ) [inline]

Definition at line 136 of file lazy_grid.h.

template<typename PointT >

int lslgeneric::LazyGrid< PointT >::loadFromJFF ( FILE * jffin ) [virtual]

reads map contents from .jff file

Definition at line 695 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::setCellType ( Cell< PointT > * type ) [virtual]

sets the cell factory type

Implements lslgeneric::SpatialIndex< PointT >.

Definition at line 638 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::setCenter	(	const double &	cx,
		const double &	cy,
		const double &	cz
	)		`[virtual]`

the following methods provide index specific functionalities and don't have to be implemented by all sub-classes

Reimplemented from lslgeneric::SpatialIndex< PointT >.

Definition at line 74 of file lazy_grid.hpp.

template<typename PointT >

void lslgeneric::LazyGrid< PointT >::setSize	(	const double &	sx,
		const double &	sy,
		const double &	sz
	)		`[virtual]`

Reimplemented from lslgeneric::SpatialIndex< PointT >.

Definition at line 88 of file lazy_grid.hpp.

template<typename PointT >

int lslgeneric::LazyGrid< PointT >::size ( void ) [virtual]

Definition at line 297 of file lazy_grid.hpp.

template<typename PointT >

bool lslgeneric::LazyGrid< PointT >::traceLine	(	const Eigen::Vector3d &	origin,
		const PointT &	endpoint,
		const Eigen::Vector3d &	diff,
		const double &	maxz,
		std::vector< NDTCell< PointT > * > &	cells
	)		`[inline]`

Select the smallest resolution

We only want to check every cell once, so increase the index if we are still in the same cell

Add fake point to initialize!

Definition at line 797 of file lazy_grid.hpp.

template<typename PointT >

bool lslgeneric::LazyGrid< PointT >::traceLineWithEndpoint	(	const Eigen::Vector3d &	origin,
		const PointT &	endpoint,
		const Eigen::Vector3d &	diff,
		const double &	maxz,
		std::vector< NDTCell< PointT > * > &	cells,
		Eigen::Vector3d &	final_point
	)		`[inline]`