voxel_map< V, D, P > Class Template Reference

#include <voxel_map.h>

Inherits unordered_map< boost::array< comma::int32, D >, V, snark::array_hash< boost::array< comma::int32, D >, D > >.

Public Types
enum
	number of dimensions
typedef boost::unordered_map < index_type, voxel_type, snark::array_hash< index_type, D > >	base_type
	base class type
typedef base_type::const_iterator	const_iterator
	const iterator type (otherwise it does not build on windows...)
typedef boost::array < comma::int32, D >	index_type
	index type
typedef base_type::iterator	iterator
	iterator type (otherwise it does not build on windows...)
typedef P	point_type
	point type
typedef V	voxel_type
	voxel type

Public Member Functions
iterator	find (const point_type &point)
	find voxel by point
const_iterator	find (const point_type &point) const
	find voxel by point
iterator	find (const index_type &index)
	find voxel by index
const_iterator	find (const index_type &index) const
	find voxel by index
index_type	index_of (const point_type &point) const
	return index of the point, always rounds it down (does floor for given resolution)
std::pair< iterator, bool >	insert (const point_type &point, const voxel_type &voxel)
	add voxel at the given point, if it does not exist
const point_type &	origin () const
	return origin
const point_type &	resolution () const
	return resolution
iterator	touch_at (const point_type &point)
	add voxel at the given point, if it does not exist
	voxel_map (const point_type &origin, const point_type &resolution)
	constructor
	voxel_map (const point_type &resolution)
	constructor for default origin of all zeroes

Static Public Member Functions
static index_type	index_of (const point_type &point, const point_type &origin, const point_type &resolution)
	same as index_of( point ), but static
static index_type	index_of (const point_type &point, const point_type &resolution)
	same as index_of( point ), but static

Detailed Description

template<typename V, unsigned int D, typename P = Eigen::Matrix< double, D, 1 >>
class snark::voxel_map< V, D, P >

unordered voxel map

it may be a much better choice than voxel grid, whenever operations on a voxel do not depend on its neighbours, and also when the grid extents are not known beforehand

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

• voxel_map.h