ndt_sensor_model.hpp File Reference

#include <cassert>
#include <cstdint>
#include <filesystem>
#include <stdexcept>
#include <type_traits>
#include <unordered_map>
#include <vector>
#include <H5Cpp.h>
#include <Eigen/Core>
#include <sophus/common.hpp>
#include <sophus/se2.hpp>
#include <sophus/se3.hpp>
#include <sophus/so2.hpp>
#include <beluga/sensor/data/ndt_cell.hpp>
#include <beluga/sensor/data/sparse_value_grid.hpp>
#include "beluga/eigen_compatibility.hpp"

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Classes
struct	beluga::detail::CellHasher< N >
struct	beluga::NDTModelParam< NDim >
	Parameters used to construct a NDTSensorModel instance. More...
class	beluga::NDTSensorModel< SparseGridT >
	NDT sensor model for range finders. More...

Namespaces
	beluga
	The main Beluga namespace.
	beluga::detail
	beluga::io

Typedefs
using	beluga::NDTModelParam2d = NDTModelParam< 2 >
	Convenience alias for a 2d parameters struct for the NDT sensor model. More...
using	beluga::NDTModelParam3d = NDTModelParam< 3 >
	Convenience alias for a 3d parameters struct for the NDT sensor model. More...

Functions
template<int NDim, typename Scalar = double>
NDTCell< NDim, Scalar >	beluga::detail::fit_points (const std::vector< Eigen::Vector< Scalar, NDim >> &points)
	Fit a vector of points to an NDT cell, by computing its mean and covariance. More...
template<int NDim>
constexpr std::conditional_t< NDim==2, std::vector< Eigen::Vector2i >, std::vector< Eigen::Vector3i > >	beluga::detail::get_default_neighbors_kernel ()
	Helper to get the default neighbors kernel. More...
template<typename NDTMapRepresentationT >
NDTMapRepresentationT	beluga::io::load_from_hdf5 (const std::filesystem::path &path_to_hdf5_file)
template<int NDim, typename Scalar = double>
std::vector< NDTCell< NDim, Scalar > >	beluga::detail::to_cells (const std::vector< Eigen::Vector< Scalar, NDim >> &points, const double resolution)

Variables
const std::vector< Eigen::Vector2i >	beluga::detail::kDefaultNeighborKernel2d
	Default neighbor kernel for the 2D NDT sensor model. More...
const std::vector< Eigen::Vector3i >	beluga::detail::kDefaultNeighborKernel3d
	Default neighbor kernel for the 3D NDT sensor model. More...