ndt_voxel_view.hpp

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// Copyright 2020 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.

#ifndef NDT__NDT_VOXEL_VIEW_HPP_
#define NDT__NDT_VOXEL_VIEW_HPP_

#include <ndt/ndt_voxel.hpp>

namespace autoware
{
namespace localization
{
namespace ndt
{

template<typename VoxelT>
class NDT_PUBLIC VoxelView;

template<typename VoxelT, typename Derived>
class NDT_PUBLIC VoxelViewBase : public common::helper_functions::crtp<Derived>
{
public:
  using Point = Eigen::Vector3d;
  using Cov = Eigen::Matrix3d;
  explicit VoxelViewBase(const VoxelT & vx)
  : m_data_ref{vx} {}

  const Point & centroid() const
  {
    return this->impl().centroid_();
  }
  const Cov & inverse_covariance() const
  {
    return this->impl().inverse_covariance_();
  }
  bool8_t usable() const noexcept
  {
    return this->impl().usable_();
  }
  const VoxelT & get() const noexcept
  {
    return m_data_ref;
  }

private:
  const VoxelT & m_data_ref;
};

template<>
class NDT_PUBLIC VoxelView<StaticNDTVoxel>
  : public VoxelViewBase<StaticNDTVoxel, VoxelView<StaticNDTVoxel>>
{
public:
  using Point = Eigen::Vector3d;
  using Cov = Eigen::Matrix3d;
  using Base = VoxelViewBase<StaticNDTVoxel, VoxelView<StaticNDTVoxel>>;
  explicit VoxelView(const StaticNDTVoxel & voxel);

  const Cov & inverse_covariance_() const;
  const Point & centroid_() const;
  bool8_t usable_() const noexcept;

private:
  bool8_t m_usable;
};


template<>
class NDT_PUBLIC VoxelView<DynamicNDTVoxel>
  : public VoxelViewBase<DynamicNDTVoxel, VoxelView<DynamicNDTVoxel>>
{
public:
  using Base = VoxelViewBase<DynamicNDTVoxel, VoxelView<DynamicNDTVoxel>>;
  using Point = Eigen::Vector3d;
  using Cov = Eigen::Matrix3d;
  explicit VoxelView(const DynamicNDTVoxel & voxel);

  const Cov & inverse_covariance_() const;
  const Point & centroid_() const;
  bool8_t usable_() const noexcept;

private:
  Cov m_inverse_covariance;
  bool8_t m_usable{true};
};


}  // namespace ndt
}  // namespace localization
}  // namespace autoware

#endif  // NDT__NDT_VOXEL_VIEW_HPP_