Template Class VoxelGrid

Nested Relationships

Nested Types

Class Documentation

template<typename DataT>
class VoxelGrid

Public Types

using LeafGrid = Grid<DataT>
using InnerGrid = Grid<std::shared_ptr<LeafGrid>>
using RootMap = std::unordered_map<CoordT, InnerGrid>

Public Functions

inline VoxelGrid(double voxel_size, uint8_t inner_bits = 2, uint8_t leaf_bits = 3)

VoxelGrid constructor.

Parameters:

voxel_size – dimension of the voxel. Used to convert between Point3D and CoordT

inline size_t memUsage() const

getMemoryUsage returns the amount of bytes used by this data structure

inline size_t activeCellsCount() const

Return the total number of active cells.

inline CoordT posToCoord(double x, double y, double z)

posToCoord is used to convert real coordinates to CoordT indexes.

inline CoordT posToCoord(const Point3D &pos)

posToCoord is used to convert real coordinates to CoordT indexes.

inline Point3D coordToPos(const CoordT &coord)

coordToPos converts CoordT indexes to Point3D.

template<class VisitorFunction>
inline void forEachCell(VisitorFunction func)

forEachCell apply a function of type: 

void(DataT*, const CoordT&)
to each active element of the grid.

inline Accessor createAccessor()
inline CoordT getRootKey(const CoordT &coord)
inline CoordT getInnerKey(const CoordT &coord)
inline uint32_t getInnerIndex(const CoordT &coord)
inline uint32_t getLeafIndex(const CoordT &coord)

Public Members

const uint32_t INNER_BITS
const uint32_t LEAF_BITS
const uint32_t Log2N
const double resolution
const double inv_resolution
const uint32_t INNER_MASK
const uint32_t LEAF_MASK
RootMap root_map
class Accessor

Class to be used to set and get values of a cell of the Grid. It uses caching to speed up computation.

Create an instance of this object with the method VoxelGrid::greateAccessor()

Public Functions

inline Accessor(VoxelGrid &grid)
inline bool setValue(const CoordT &coord, const DataT &value)

setValue of a cell. If the cell did not exist, it is created.

Parameters:

  • coord – coordinate of the cell

  • value – value to set.

Returns:

the previous state of the cell (ON = true).

inline DataT *value(const CoordT &coord, bool create_if_missing = false)

value getter.

Parameters:

coord – coordinate of the cell.

Returns:

return the pointer to the value or nullptr if not set.

inline bool setCellOn(const CoordT &coord, const DataT &default_value = DataT())

setCellOn is similar to setValue, but the value is changed only if the cell has been created, otherwise, the previous value is used.

Parameters:

  • coord – coordinate of the cell.

  • default_value – default value of the cell. Use only if the cell did not exist before.

Returns:

the previous state of the cell (ON = true).

inline bool setCellOff(const CoordT &coord)

setCellOff will disable a cell without deleting its content.

Parameters:

coord – coordinate of the cell.

Returns:

the previous state of the cell (ON = true).

inline const InnerGrid *lastInnerdGrid() const

lastInnerdGrid returns the pointer to the InnerGrid in the cache.

inline const LeafGrid *lastLeafGrid() const

lastLeafGrid returns the pointer to the LeafGrid in the cache.

inline LeafGrid *getLeafGrid(const CoordT &coord, bool create_if_missing = false)

getLeafGrid gets the pointer to the LeafGrid containing the cell. It is the basic class used by setValue() and value().

Parameters:

  • coord – Coordinate of the cell.

  • create_if_missing – if true, create the Root, Inner and Leaf, if not present.