Template Class CPose3DGridTemplate

Defined in File CPose3DGridTemplate.h

Class Documentation

template<class T> class CPose3DGridTemplate

This is a template class for storing a 6-dimensional grid, with components corresponding to Euler angle parameterization of SE(3) poses. poses_pdf_grp

Return “indexes” from coordinates

inline int x2idx(double x) const

inline int y2idx(double y) const

inline int z2idx(double z) const

inline int yaw2idx(double yaw) const

inline int pitch2idx(double pitch) const

inline int roll2idx(double roll) const

Return coordinates from “indexes”

inline double idx2x(uint32_t cx) const

inline double idx2y(uint32_t cy) const

inline double idx2z(uint32_t cz) const

inline double idx2yaw(uint32_t cY) const

inline double idx2pitch(uint32_t cP) const

inline double idx2roll(uint32_t cR) const

Public Functions

inline const std::vector<T> &data() const: Read-only access to the underlying flat data array.

inline std::vector<T> &data(): Read-write access to the underlying flat data array.

inline CPose3DGridTemplate(const mrpt::math::TPose3D &bb_min = mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI), const mrpt::math::TPose3D &bb_max = mrpt::math::TPose3D(1., 1., 1., M_PI, .5 * M_PI, .5 * M_PI), double resolution_XYZ = 0.10, double resolution_YPR = mrpt::DEG2RAD(10.0)): Default constructor:

virtual ~CPose3DGridTemplate() = default

inline void setSize(const mrpt::math::TPose3D &bb_min, const mrpt::math::TPose3D &bb_max, double resolution_XYZ, double resolution_YPR): Changes the limits and size of the grid, erasing previous contents:

inline const T *getByPos(double x, double y, double z, double yaw, double pitch, double roll) const: Reads the contents of a cell

inline T *getByPos(double x, double y, double z, double yaw, double pitch, double roll)

inline const T *getByPos(const mrpt::math::TPose3D &p) const

inline T *getByPos(const mrpt::math::TPose3D &p)

inline const T *getByIndex(int cx, int cy, int cz, int cY, int cP, int cR) const: Reads the contents of a cell

inline T *getByIndex(int cx, int cy, int cz, int cY, int cP, int cR)

inline size_t idx2absidx(size_t cx, size_t cy, size_t cz, size_t cYaw, size_t cPitch, size_t cRoll) const: (x,y,z,yaw,pitch,roll) indices to absolute index in raw data container

inline std::tuple<size_t, size_t, size_t, size_t, size_t, size_t> absidx2idx(size_t absIdx) const: absolute index to (x,y,z,yaw,pitch,roll) indices

template<class MATRIXLIKE> inline void getAsMatrix(MATRIXLIKE &outMat, const double z, const double yaw, const double pitch, const double roll) const: Returns a XY slice of the grid, for given constant z,yaw, pitch and roll.

inline mrpt::math::TPose3D getMinBoundingBox() const: Get info about the 6D grid

inline mrpt::math::TPose3D getMaxBoundingBox() const

inline double getResolutionXYZ() const

inline double getResolutionAngles() const

inline void fill(const T &val)

inline uint32_t getSizeX() const

inline uint32_t getSizeY() const

inline uint32_t getSizeZ() const

inline uint32_t getSizeYaw() const

inline uint32_t getSizePitch() const

inline uint32_t getSizeRoll() const

inline uint32_t getTotalVoxelCount() const

inline const std::vector<T> &getData() const

inline std::vector<T> &getData()

Protected Types

using self_t = CPose3DGridTemplate<T>

Protected Functions

inline void update_cached_size_products()

Protected Attributes

mrpt::math::TPose3D m_bb_min = {-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI}

mrpt::math::TPose3D m_bb_max = {+1., +1., +1., +M_PI, +.5 * M_PI, +.5 * M_PI}

double m_resolutionXYZ = {0.20}: Resolution of the grid

double m_resolutionYPR = {mrpt::DEG2RAD(10.0)}

uint32_t m_sizeX = {0}

uint32_t m_sizeY = {0}

uint32_t m_sizeZ = {0}

uint32_t m_sizeYaw = {0}

uint32_t m_sizePitch = {0}

uint32_t m_sizeRoll = {0}

uint32_t m_size_xy

uint32_t m_size_xyz

uint32_t m_size_xyzY

uint32_t m_size_xyzYP

uint32_t m_size_xyzYPR

int m_min_cidX: Minimum “cell indexes” for each coordinate

int m_min_cidY

int m_min_cidZ

int m_min_cidYaw

int m_min_cidPitch

int m_min_cidRoll

std::vector<T> m_data

The data. Stored in this order:

m_data[ ci_x

size_x * ci_y
size_xy * ci_z
size_xyz * ci_yaw
size_xyzy * ci_pitch
size_xyzyp * ci_roll ]