autoware::localization::ndt::StaticNDTMap Class Reference

#include <ndt_map.hpp>

Public Types
using	Voxel = StaticNDTVoxel
using	Config = autoware::perception::filters::voxel_grid::Config
using	TimePoint = std::chrono::system_clock::time_point
using	Point = Eigen::Vector3d
using	VoxelViewVector = std::vector< VoxelView< Voxel > >
using	VoxelGrid = NDTGrid< Voxel >::Grid
using	ConfigPoint = NDTGrid< Voxel >::ConfigPoint

Public Member Functions
	StaticNDTMap (const Config &voxel_grid_config)
void	set (const sensor_msgs::msg::PointCloud2 &msg)
const VoxelViewVector &	cell (const Point &pt) const
const VoxelViewVector &	cell (float32_t x, float32_t y, float32_t z) const
const std::string &	frame_id () const noexcept
TimePoint	stamp () const noexcept
bool	valid () const noexcept
	Check if the map is valid. More...
const ConfigPoint &	cell_size () const noexcept
std::size_t	size () const noexcept
VoxelGrid::const_iterator	begin () const noexcept
	Returns an const iterator to the first element of the map. More...
VoxelGrid::const_iterator	end () const noexcept
	Returns a const iterator to one past the last element of the map. More...
void	clear () noexcept
	Clear all voxels in the map. More...

Detailed Description

NDT map using StaticNDTVoxels. This class is to be used when the pointcloud messages to be inserted already have the correct format (see validate_pcl_map(...)) and represent a transformed map. No centroid/covariance computation is done during run-time.

Member Typedef Documentation

Config

using autoware::localization::ndt::StaticNDTMap::Config = autoware::perception::filters::voxel_grid::Config

ConfigPoint

using autoware::localization::ndt::StaticNDTMap::ConfigPoint = NDTGrid<Voxel>::ConfigPoint

Point

using autoware::localization::ndt::StaticNDTMap::Point = Eigen::Vector3d

TimePoint

using autoware::localization::ndt::StaticNDTMap::TimePoint = std::chrono::system_clock::time_point

Voxel

using autoware::localization::ndt::StaticNDTMap::Voxel = StaticNDTVoxel

VoxelGrid

using autoware::localization::ndt::StaticNDTMap::VoxelGrid = NDTGrid<Voxel>::Grid

VoxelViewVector

using autoware::localization::ndt::StaticNDTMap::VoxelViewVector = std::vector<VoxelView<Voxel> >

Constructor & Destructor Documentation

StaticNDTMap()

autoware::localization::ndt::StaticNDTMap::StaticNDTMap ( const Config &  voxel_grid_config )

explicit

Member Function Documentation

begin()

StaticNDTMap::VoxelGrid::const_iterator autoware::localization::ndt::StaticNDTMap::begin ( ) const

noexcept

Returns an const iterator to the first element of the map.

Returns

Iterator

cell() [1/2]

const StaticNDTMap::VoxelViewVector & autoware::localization::ndt::StaticNDTMap::cell

(

const Point &

pt

)

const

Lookup the cell at location.

Parameters

pt	point to lookup

Returns

A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

cell() [2/2]

const StaticNDTMap::VoxelViewVector & autoware::localization::ndt::StaticNDTMap::cell	(	float32_t	x,
		float32_t	y,
		float32_t	z
	)		const

Lookup the cell at location.

Parameters

x	x coordinate
y	y coordinate
z	z coordinate

Returns

A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

cell_size()

const StaticNDTMap::ConfigPoint & autoware::localization::ndt::StaticNDTMap::cell_size ( ) const

noexcept

Get size of the cell.

Returns

A point representing the dimensions of the cell.

clear()

void autoware::localization::ndt::StaticNDTMap::clear ( )

noexcept

Clear all voxels in the map.

end()

StaticNDTMap::VoxelGrid::const_iterator autoware::localization::ndt::StaticNDTMap::end ( ) const

noexcept

Returns a const iterator to one past the last element of the map.

Returns

Iterator

frame_id()

const std::string & autoware::localization::ndt::StaticNDTMap::frame_id ( ) const

noexcept

Get map's frame id.

Returns

Frame id of the map.

set()

void autoware::localization::ndt::StaticNDTMap::set

(

const sensor_msgs::msg::PointCloud2 &

msg

)

Set point cloud message representing the map to the map representation instance. Map is assumed to have correct format (see validate_pcl_map(...)) and was generated by a dense map representation with identical configuration to this representation.

Parameters

msg

PointCloud2 message to add. Each point in this cloud should correspond to a single voxel in the underlying voxel grid. This is checked via the cell_id field in the pcl message which is expected to be equal to the voxel grid ID in the map's voxel grid. Since the grid's index will be a long value to avoid overflows, cell_id field should be an array of 2 unsigned integers. That is because there is no direct long support as a PointField.

size()

std::size_t autoware::localization::ndt::StaticNDTMap::size ( ) const

noexcept

Get size of the map

Returns

Number of voxels in the map. This number includes the voxels that do not have enough numbers to be used yet.

stamp()

StaticNDTMap::TimePoint autoware::localization::ndt::StaticNDTMap::stamp ( ) const

noexcept

Get map's time stamp.

Returns

map's time stamp.

valid()

bool autoware::localization::ndt::StaticNDTMap::valid ( ) const

noexcept

Check if the map is valid.

Returns

True if the map and frame ID are not empty and the stamp is initialized.

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

• ndt_map.hpp
• ndt_map.cpp