Template Class spatial_hash< Sophus::SE2d, void >
Defined in File spatial_hash.hpp
Class Documentation
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template<>
class spatial_hash<Sophus::SE2d, void> Specialization for Sophus::SE2d. Will calculate the spatial hash based on the translation and rotation.
Public Functions
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inline explicit spatial_hash(double x_clustering_resolution, double y_clustering_resolution, double theta_clustering_resolution)
Constructs a spatial hasher given per-coordinate resolutions.
- Parameters:
x_clustering_resolution – Clustering resolution for the X axis, in meters.
y_clustering_resolution – Clustering resolution for the Y axis, in meters.
theta_clustering_resolution – Clustering resolution for the Theta axis, in radians.
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inline explicit spatial_hash(double linear_clustering_resolution, double angular_clustering_resolution)
Constructs a spatial hasher given per-group resolutions.
- Parameters:
linear_clustering_resolution – Clustering resolution for translational coordinates, in meters.
angular_clustering_resolution – Clustering resolution for rotational coordinates, in radians.
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spatial_hash() = default
Default constructor.
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inline std::size_t operator()(const Sophus::SE2d &state) const
Calculates the tuple hash, using the given resolution for x, y and rotation given at construction time.
- Parameters:
state – The state to be hashed.
- Returns:
The calculated hash.
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inline explicit spatial_hash(double x_clustering_resolution, double y_clustering_resolution, double theta_clustering_resolution)