grid_map::signed_distance_field::Gridmap3dLookup Struct Reference

#include <Gridmap3dLookup.hpp>

Classes
struct	size_t_3d
	size_t in 3 dimensions More...

Public Member Functions
	Gridmap3dLookup ()=default
	Gridmap3dLookup (const size_t_3d &gridsize, const Position3 &gridOrigin, double resolution)
size_t	linearIndex (const size_t_3d &index) const noexcept
size_t	linearSize () const noexcept
size_t_3d	nearestNode (const Position3 &position) const noexcept
Position3	nodePosition (const size_t_3d &index) const noexcept

Static Public Member Functions
static size_t	getNearestPositiveInteger (double val, double max) noexcept

Public Attributes
Position3	gridMaxIndexAsDouble_ {0.0, 0.0, 0.0}
	Maximum index per dimension stored as double. More...
Position3	gridOrigin_ {0.0, 0.0, 0.0}
	Origin position of the grid. More...
size_t_3d	gridsize_ {0, 0, 0}
	3D size of the grid More...
double	resolution_ {1.0}
	Grid resolution. More...

Detailed Description

Stores 3 dimensional grid information and provides methods to convert between position - 3d Index - linear index.

As with the 2D GridMap, the X-Y position is opposite to the row-col-index: (X,Y) is highest at (0,0) and lowest at (n, m). The z-position is increasing with the layer-index.

Definition at line 22 of file Gridmap3dLookup.hpp.

Constructor & Destructor Documentation

Gridmap3dLookup() [1/2]

grid_map::signed_distance_field::Gridmap3dLookup::Gridmap3dLookup ( )

default

Default constructor: creates an empty grid

Gridmap3dLookup() [2/2]

grid_map::signed_distance_field::Gridmap3dLookup::Gridmap3dLookup ( const size_t_3d &  gridsize, const Position3 &  gridOrigin, double  resolution  )

inline

Constructor

Parameters

gridsize	: x, y, z size of the grid
gridOrigin	: position at x=y=z=0
resolution	: (>0.0) size of 1 voxel

Definition at line 56 of file Gridmap3dLookup.hpp.

Member Function Documentation

getNearestPositiveInteger()

static size_t grid_map::signed_distance_field::Gridmap3dLookup::getNearestPositiveInteger ( double  val, double  max  )

inlinestaticnoexcept

rounds subindex value and clamps it to [0, max]

Definition at line 98 of file Gridmap3dLookup.hpp.

linearIndex()

size_t grid_map::signed_distance_field::Gridmap3dLookup::linearIndex ( const size_t_3d &  index ) const

inlinenoexcept

Returns the linear node index from a 3d node index

Definition at line 87 of file Gridmap3dLookup.hpp.

linearSize()

size_t grid_map::signed_distance_field::Gridmap3dLookup::linearSize ( ) const

inlinenoexcept

Linear size

Definition at line 95 of file Gridmap3dLookup.hpp.

nearestNode()

size_t_3d grid_map::signed_distance_field::Gridmap3dLookup::nearestNode ( const Position3 &  position ) const

inlinenoexcept

Returns the 3d index of the grid node closest to the query position

Definition at line 69 of file Gridmap3dLookup.hpp.

nodePosition()

Position3 grid_map::signed_distance_field::Gridmap3dLookup::nodePosition ( const size_t_3d &  index ) const

inlinenoexcept

Returns the 3d node position from a 3d index

Definition at line 79 of file Gridmap3dLookup.hpp.

Member Data Documentation

gridMaxIndexAsDouble_

Position3 grid_map::signed_distance_field::Gridmap3dLookup::gridMaxIndexAsDouble_ {0.0, 0.0, 0.0}

Maximum index per dimension stored as double.

Definition at line 42 of file Gridmap3dLookup.hpp.

gridOrigin_

Position3 grid_map::signed_distance_field::Gridmap3dLookup::gridOrigin_ {0.0, 0.0, 0.0}

Origin position of the grid.

Definition at line 39 of file Gridmap3dLookup.hpp.

gridsize_

size_t_3d grid_map::signed_distance_field::Gridmap3dLookup::gridsize_ {0, 0, 0}

3D size of the grid

Definition at line 36 of file Gridmap3dLookup.hpp.

resolution_

double grid_map::signed_distance_field::Gridmap3dLookup::resolution_ {1.0}

Grid resolution.

Definition at line 45 of file Gridmap3dLookup.hpp.

---

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

• Gridmap3dLookup.hpp