VoxelGrid< DataT > Class Template Reference

#include <bonxai.hpp>

Classes
class	Accessor
	Class to be used to set and get values of a cell of the Grid. More...
class	ConstAccessor

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

Public Member Functions
size_t	activeCellsCount () const
	Return the total number of active cells.
std::shared_ptr< LeafGrid >	allocateLeafGrid ()
void	clear (ClearOption opt)
Point3D	coordToPos (const CoordT &coord) const
	coordToPos converts CoordT indices to Point3D.
Accessor	createAccessor ()
ConstAccessor	createConstAccessor () const
template<class VisitorFunction>
void	forEachCell (VisitorFunction func)
	forEachCell apply a function of type:
template<class VisitorFunction>
void	forEachCell (VisitorFunction func) const
	forEachCell apply a function of type:
uint32_t	getInnerIndex (const CoordT &coord) const
CoordT	getInnerKey (const CoordT &coord) const
uint32_t	getLeafIndex (const CoordT &coord) const
CoordT	getRootKey (const CoordT &coord) const
uint32_t	innetBits () const
uint32_t	leafBits () const
size_t	memUsage () const
	getMemoryUsage returns the amount of bytes used by this data structure
VoxelGrid &	operator= (const VoxelGrid &)=delete
VoxelGrid &	operator= (VoxelGrid &&other)=default
CoordT	posToCoord (const Point3D &pos) const
	posToCoord is used to convert real coordinates to CoordT indices.
CoordT	posToCoord (double x, double y, double z) const
	posToCoord is used to convert real coordinates to CoordT indices.
void	releaseUnusedMemory ()
	Try freeing memory; this will discard grids where all the cells are OFF.
RootMap &	rootMap ()
const RootMap &	rootMap () const
	VoxelGrid (const VoxelGrid &)=delete
	VoxelGrid (double voxel_size, uint8_t inner_bits=2, uint8_t leaf_bits=3)
	VoxelGrid constructor.
	VoxelGrid (VoxelGrid &&other)=default
double	voxelSize () const

Member Typedef Documentation

InnerGrid

template<typename DataT>

using InnerGrid = Grid<std::shared_ptr<LeafGrid>>

LeafGrid

template<typename DataT>

using LeafGrid = Grid<DataT>

RootMap

template<typename DataT>

using RootMap = std::unordered_map<CoordT, InnerGrid>

Constructor & Destructor Documentation

VoxelGrid() [1/3]

template<typename DataT>

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

explicit

VoxelGrid constructor.

Parameters

voxel_size

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

VoxelGrid() [2/3]

template<typename DataT>

VoxelGrid ( const VoxelGrid< DataT > & )

delete

VoxelGrid() [3/3]

template<typename DataT>

VoxelGrid ( VoxelGrid< DataT > && other )

default

Member Function Documentation

activeCellsCount()

template<typename DataT>

size_t activeCellsCount ( ) const

nodiscard

Return the total number of active cells.

allocateLeafGrid()

template<typename DataT>

std::shared_ptr< Grid< DataT > > allocateLeafGrid

(

)

clear()

template<typename DataT>

void clear

(

ClearOption

opt

)

coordToPos()

template<typename DataT>

Point3D coordToPos ( const CoordT & coord ) const

nodiscard

coordToPos converts CoordT indices to Point3D.

createAccessor()

template<typename DataT>

Accessor createAccessor

(

)

createConstAccessor()

template<typename DataT>

ConstAccessor createConstAccessor

(

)

const

forEachCell() [1/2]

template<typename DataT>

template<class VisitorFunction>

void forEachCell

(

VisitorFunction

func

)

forEachCell apply a function of type:

void(DataT&, const CoordT&)

to each active element of the grid.

forEachCell() [2/2]

template<typename DataT>

template<class VisitorFunction>

void forEachCell

(

VisitorFunction

func

)

const

forEachCell apply a function of type:

void(const DataT&, const CoordT&)

to each active element of the grid.

getInnerIndex()

template<typename DataT>

uint32_t getInnerIndex ( const CoordT & coord ) const

nodiscard

getInnerKey()

template<typename DataT>

CoordT getInnerKey ( const CoordT & coord ) const

nodiscard

getLeafIndex()

template<typename DataT>

uint32_t getLeafIndex ( const CoordT & coord ) const

nodiscard

getRootKey()

template<typename DataT>

CoordT getRootKey ( const CoordT & coord ) const

nodiscard

innetBits()

template<typename DataT>

uint32_t innetBits

(

)

const

leafBits()

template<typename DataT>

uint32_t leafBits

(

)

const

memUsage()

template<typename DataT>

size_t memUsage ( ) const

nodiscard

getMemoryUsage returns the amount of bytes used by this data structure

operator=() [1/2]

template<typename DataT>

VoxelGrid & operator= ( const VoxelGrid< DataT > & )

delete

operator=() [2/2]

template<typename DataT>

VoxelGrid & operator= ( VoxelGrid< DataT > && other )

default

posToCoord() [1/2]

template<typename DataT>

CoordT posToCoord ( const Point3D & pos ) const

nodiscard

posToCoord is used to convert real coordinates to CoordT indices.

posToCoord() [2/2]

template<typename DataT>

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

nodiscard

posToCoord is used to convert real coordinates to CoordT indices.

releaseUnusedMemory()

template<typename DataT>

void releaseUnusedMemory

(

)

Try freeing memory; this will discard grids where all the cells are OFF.

Note that the memory release is NOT guaranteed, since we are using a memory pool too. CAREFULL: This will invalidate all the existing Accessors (you need to create new ones).

rootMap() [1/2]

template<typename DataT>

RootMap & rootMap

(

)

rootMap() [2/2]

template<typename DataT>

const RootMap & rootMap

(

)

const

voxelSize()

template<typename DataT>

double voxelSize

(

)

const

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

• maps_managers/easynav_bonxai_maps_manager/include/bonxai/bonxai.hpp