gtsam_points::FastOccupancyBlock Struct Reference

Fast occupancy grid block. More...

#include <fast_occupancy_grid.hpp>

Public Member Functions
int	cell_index (const Eigen::Vector3i &coord) const
	Calculate the index of the cell in the block.
bool	occupied (const Eigen::Vector3i &coord) const
	Check if the cell is occupied.
bool	free (const Eigen::Vector3i &coord) const
	Check if the cell is free.
void	set_occupied (const Eigen::Vector3i &coord)
	Set the cell as occupied.
void	set_free (const Eigen::Vector3i &coord)
	Set the cell as free.
int	count () const
	Count the number of occupied cells.

Public Attributes
std::bitset< num_cells >	cells
	Occupancy status of each cell in the block.

Static Public Attributes
static constexpr int	stride = 8
	Size of the block in each dimension.
static constexpr int	num_cells = stride * stride * stride
	Number of cells in the block.

Detailed Description

Fast occupancy grid block.

Member Function Documentation

cell_index()

int gtsam_points::FastOccupancyBlock::cell_index ( const Eigen::Vector3i &  coord ) const

inline

Calculate the index of the cell in the block.

Parameters

coord

Coordinate of the cell.

count()

int gtsam_points::FastOccupancyBlock::count ( ) const

inline

Count the number of occupied cells.

Returns

Number of occupied cells.

free()

bool gtsam_points::FastOccupancyBlock::free ( const Eigen::Vector3i &  coord ) const

inline

Check if the cell is free.

Parameters

coord

Coordinate of the cell.

Returns

True if the cell is free.

occupied()

bool gtsam_points::FastOccupancyBlock::occupied ( const Eigen::Vector3i &  coord ) const

inline

Check if the cell is occupied.

Parameters

coord

Coordinate of the cell.

Returns

True if the cell is occupied.

set_free()

void gtsam_points::FastOccupancyBlock::set_free ( const Eigen::Vector3i &  coord )

inline

Set the cell as free.

Parameters

coord

Coordinate of the cell.

set_occupied()

void gtsam_points::FastOccupancyBlock::set_occupied ( const Eigen::Vector3i &  coord )

inline

Set the cell as occupied.

Parameters

coord

Coordinate of the cell.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/fast_occupancy_grid.hpp