Class CVoxelMap
Defined in File CVoxelMap.h
Inheritance Relationships
Base Type
public mrpt::maps::CVoxelMapOccupancyBase< VoxelNodeOccupancy >(Template Class CVoxelMapOccupancyBase)
Class Documentation
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class CVoxelMap : public mrpt::maps::CVoxelMapOccupancyBase<VoxelNodeOccupancy>
Log-odds sparse voxel map for cells containing only the occupancy of each voxel.
Public Functions
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inline CVoxelMap(double resolution = 0.05, uint8_t inner_bits = 2, uint8_t leaf_bits = 3)
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~CVoxelMap()
Public Members
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double resolution = 0.10
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uint8_t inner_bits = 2
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uint8_t leaf_bits = 3
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mrpt::maps::TVoxelMap_InsertionOptions insertionOpts
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mrpt::maps::TVoxelMap_LikelihoodOptions likelihoodOpts
Protected Functions
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bool internal_insertObservation(const mrpt::obs::CObservation &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose) override
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bool internal_insertObservation_Pts(const mrpt::obs::CObservationPointCloud &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose = std::nullopt)
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inline CVoxelMap(double resolution = 0.05, uint8_t inner_bits = 2, uint8_t leaf_bits = 3)