VoxelMap< T > Class Template Reference

#include <maps/VoxelMap.h>

Public Types
typedef boost::multi_array< T, 3 >	Array
typedef boost::multi_array::extent_range	Range

Public Member Functions
	VoxelMap (float cellSize=0.1f)
	VoxelMap (const Size3i &size, float cellSize, const Point3i &offset=Point3i(0, 0, 0))
	VoxelMap (const Box3f &region, float cellSize)
	Creates a new voxel map that covers the specified region. More...
	VoxelMap (const Box3i &region, float cellSize)
	~VoxelMap ()
float	getCellSize () const
	Returns the size of each cell in meter. More...
Point3i	getOffset () const
	Returns the offset of the map, e.g. the index of the cell that is located in the origin. More...
VoxelMap &	operator= (const T &value)
	Set all voxel cells to the specified value. More...
Box3f	getRegion () const
	Retuns the region that is covered by the GridMap. More...
Box3i	getMapRegion () const
	Retuns the region that is covered by the GridMap in grid cells. More...
Array &	data ()
const Array &	data () const
T &	operator() (const Point3i &idx)
const T &	operator() (const Point3i &idx) const
Point3i	world2map (const Point3f &p) const
	Convert a given point to map coordinates. More...
Point3f	map2world (const Point3i &p) const
	Convert a given point to world coordinates. More...
void	clip (const Box3i &region, const T &valueForNewCells)

Member Typedef Documentation

Array

typedef boost::multi_array<T,3> Array

Range

typedef boost::multi_array::extent_range Range

Constructor & Destructor Documentation

VoxelMap() [1/4]

VoxelMap ( float  cellSize = 0.1f )

inline

VoxelMap() [2/4]

VoxelMap ( const Size3i &  size, float  cellSize, const Point3i &  offset = Point3i(0, 0, 0)  )

inline

VoxelMap() [3/4]

VoxelMap ( const Box3f &  region, float  cellSize  )

inline

Creates a new voxel map that covers the specified region.

The created map is guaranteed to cover the whole specified region. Note that the dimensions of the created map may differ, if the width, height or depth of the specified region is not a multiple of the specified cellSize. The width and height will be increased to the next multiple of the cellSize.

VoxelMap() [4/4]

VoxelMap ( const Box3i &  region, float  cellSize  )

inline

~VoxelMap()

~VoxelMap ( )

inline

Member Function Documentation

getCellSize()

float getCellSize ( ) const

inline

Returns the size of each cell in meter.

getOffset()

Point3i getOffset ( ) const

inline

Returns the offset of the map, e.g. the index of the cell that is located in the origin.

operator=()

VoxelMap& operator= ( const T &  value )

inline

Set all voxel cells to the specified value.

getRegion()

Box3f getRegion ( ) const

inline

Retuns the region that is covered by the GridMap.

getMapRegion()

Box3i getMapRegion ( ) const

inline

Retuns the region that is covered by the GridMap in grid cells.

data() [1/2]

Array& data ( )

inline

data() [2/2]

const Array& data ( ) const

inline

operator()() [1/2]

T& operator() ( const Point3i &  idx )

inline

operator()() [2/2]

const T& operator() ( const Point3i &  idx ) const

inline

world2map()

Point3i world2map ( const Point3f &  p ) const

inline

Convert a given point to map coordinates.

Parameters

[in]

p

Point in world coordinates

Returns

Point in map coordinates

Note

The point is not checked if it exceeds the boundaries of the map

map2world()

Point3f map2world ( const Point3i &  p ) const

inline

Convert a given point to world coordinates.

Parameters

[in]

p

Point in map coordinates

Returns

Point in world coordinates

clip()

void clip ( const Box3i &  region, const T &  valueForNewCells  )

inline

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

• include/maps/VoxelMap.h