autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires > Class Template Reference

#include <point_cloud_map.hpp>

Public Types
using	Cloud = sensor_msgs::msg::PointCloud2
using	CloudConstIt = sensor_msgs::PointCloud2ConstIterator< float32_t >

Public Member Functions
	DualVoxelMap (const perception::filters::voxel_grid::Config &grid_config, const std::string &frame_id, LocalizerMapT &&localizer_map)
MapUpdateSummary	update (const Cloud &observation)
void	write (const std::string &file_name_prefix) const
std::size_t	size () const noexcept
	Size of the voxel grid. More...
std::size_t	capacity () const noexcept
	Capacity of the voxel grid. More...
void	clear ()
	Clear the voxel grid. More...
const LocalizerMapT &	localizer_map () const noexcept
	Get the localizer map. More...
const std::string &	frame_id () const noexcept
	Get the frame ID of the map. More...
bool	empty ()
	Get if the map is empty. More...

Static Public Attributes
static constexpr auto	NUM_FIELDS {4U}

Detailed Description

template<typename LocalizerMapT, Requires = LocalizationMapConstraint<LocalizerMapT>::value>
class autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >

A map that accumulates lidar scans in a downsampled format using a voxel grid. A voxel grid is used for accumulating the lidar scans in a downsampled manner. A separate map is stored for the localizer implementation. The expected interface is defined via the Requires keyword.

Member Typedef Documentation

Cloud

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

using autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::Cloud = sensor_msgs::msg::PointCloud2

CloudConstIt

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

using autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::CloudConstIt = sensor_msgs::PointCloud2ConstIterator<float32_t>

Constructor & Destructor Documentation

DualVoxelMap()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::DualVoxelMap ( const perception::filters::voxel_grid::Config &  grid_config, const std::string &  frame_id, LocalizerMapT &&  localizer_map  )

inlineexplicit

Constructor

Parameters

grid_config	Grid configuration of the underlying voxel grid.
frame_id	Frame id of the map.
localizer_map	Localizer map to be stored.

Member Function Documentation

capacity()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

std::size_t autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::capacity ( ) const

inlinenoexcept

Capacity of the voxel grid.

clear()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

void autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::clear ( )

inline

Clear the voxel grid.

empty()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

bool autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::empty ( )

inline

Get if the map is empty.

frame_id()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

const std::string& autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::frame_id ( ) const

inlinenoexcept

Get the frame ID of the map.

localizer_map()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

const LocalizerMapT& autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::localizer_map ( ) const

inlinenoexcept

Get the localizer map.

size()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

std::size_t autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::size ( ) const

inlinenoexcept

Size of the voxel grid.

update()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

MapUpdateSummary autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::update ( const Cloud &  observation )

inline

Try to extend the map with the given point cloud.

Parameters

observation

Point cloud in the "map" frame to add to the map.

Returns

A struct summarizing the outcome of the insertion attempt.

write()

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

void autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::write ( const std::string &  file_name_prefix ) const

inline

Convert the voxel grid to a point cloud and write it to a pcd file.

Parameters

file_name_prefix

File name prefix of the file.

Member Data Documentation

NUM_FIELDS

template<typename LocalizerMapT , Requires = LocalizationMapConstraint<LocalizerMapT>::value>

constexpr auto autoware::mapping::point_cloud_mapping::DualVoxelMap< LocalizerMapT, Requires >::NUM_FIELDS {4U}

static

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

• point_cloud_map.hpp