map_cell.hpp

#pragma once
 
#include <gtsam_points/types/point_cloud_cpu.hpp>
#include <glim/mapping/sub_map.hpp>
 
namespace glim {
 
struct MapCell {
public:
  using Ptr = std::shared_ptr<MapCell>;
  using ConstPtr = std::shared_ptr<const MapCell>;
 
  MapCell(double resolution, const Eigen::Vector3i& coord);
  ~MapCell();
 
  std::string name() const;
 
  void clear();
  void add_point(int submap_id, int point_id);
  void add_points(int submap_id, const std::vector<int>& point_ids);
 
  void remove_submap(int submap_id);
  void remove_submaps(const std::vector<int>& submap_ids);
 
public:
  const double resolution;      // Cell resolution [m]
  const Eigen::Vector3i coord;  // Cell coordinates in the map frame
 
  std::vector<std::uint64_t> point_ids;  // (submap_id << 32bit) | point_id
};
 
}  // namespace glim