Inheritance diagram for ufo::Integrator< Dim >:

Public Types
using	depth_t = unsigned

using	logit_t = float

using	occupancy_t = float

Public Member Functions
template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	operator() (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &transform={}) const

template<class Map , class T , class... Rest>
void	operator() (Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &transform={}) const

Public Attributes
CountSamplingMethod	count_sample_method = CountSamplingMethod::NONE

bool	free_hits = false

depth_t	hit_depth = 0

depth_t	miss_depth = 0

occupancy_t	occupancy_hit = 0.75f

logit_t	occupancy_max_clamp_thres = 0.971f

logit_t	occupancy_min_clamp_thres = 0.1192f

occupancy_t	occupancy_miss = 0.45f

bool	propagate = false

bool	prune = true

bool	reset_modified = true

DownSamplingMethod	sample_method = DownSamplingMethod::NONE

bool	verbose = false

unsigned	void_region_distance = 2

bool	void_region_instant_max_occupancy = true

bool	void_region_instant_min_occupancy = true

Protected Member Functions
template<class Map , class... Ts>
void	insertHit (Map &map, TreeIndex const &node, SoAElement< Ts... > const &data, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class Map , class T , class... Ts>
void	insertHit (Map &map, Vec< Dim, T > const &sensor_origin, TreeIndex const &node, SoAElement< Ts... > const &data, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertHits (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > const &cloud) const

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertHits (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > const &cloud, Vec< Dim, T > const &sensor_origin) const

template<class Map , class T , class... Rest>
void	insertHits (Map &map, PointCloud< Dim, T, Rest... > const &cloud) const

template<class Map , class T , class... Rest>
void	insertHits (Map &map, PointCloud< Dim, T, Rest... > const &cloud, Vec< Dim, T > const &sensor_origin) const

template<class Map >
void	insertMiss (Map &map, detail::Miss< Dim > const &miss, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class ExecutionPolicy , class Map , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertMisses (ExecutionPolicy &&policy, Map &map, std::vector< detail::Miss< Dim > > &misses) const

template<class Map >
void	insertMisses (Map &map, std::vector< detail::Miss< Dim > > &misses) const

Protected Attributes
__block std::vector< detail::Hit< Dim > >	cached_hits_

Detailed Description

template<std::size_t Dim>
class ufo::Integrator< Dim >

Definition at line 79 of file integrator.hpp.

Member Typedef Documentation

◆ depth_t

template<std::size_t Dim>

using ufo::Integrator< Dim >::depth_t = unsigned

Definition at line 87 of file integrator.hpp.

◆ logit_t

template<std::size_t Dim>

using ufo::Integrator< Dim >::logit_t = float

Definition at line 86 of file integrator.hpp.

◆ occupancy_t

template<std::size_t Dim>

using ufo::Integrator< Dim >::occupancy_t = float

Definition at line 85 of file integrator.hpp.

Member Function Documentation

◆ insertHit() [1/2]

template<std::size_t Dim>

template<class Map , class... Ts>

void ufo::Integrator< Dim >::insertHit	(	Map &	map,
		TreeIndex const &	node,
		SoAElement< Ts... > const &	data,
		logit_t	occupancy,
		logit_t	occupancy_min,
		logit_t	occupancy_max
	)		const

inlineprotected

Definition at line 144 of file integrator.hpp.

◆ insertHit() [2/2]

template<std::size_t Dim>

template<class Map , class T , class... Ts>

void ufo::Integrator< Dim >::insertHit	(	Map &	map,
		Vec< Dim, T > const &	sensor_origin,
		TreeIndex const &	node,
		SoAElement< Ts... > const &	data,
		logit_t	occupancy,
		logit_t	occupancy_min,
		logit_t	occupancy_max
	)		const

inlineprotected

Definition at line 228 of file integrator.hpp.

◆ insertHits() [1/4]

template<std::size_t Dim>

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>

void ufo::Integrator< Dim >::insertHits	(	ExecutionPolicy &&	policy,
		Map &	map,
		PointCloud< Dim, T, Rest... > const &	cloud
	)		const

inlineprotected

Definition at line 200 of file integrator.hpp.

◆ insertHits() [2/4]

template<std::size_t Dim>

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>

void ufo::Integrator< Dim >::insertHits	(	ExecutionPolicy &&	policy,
		Map &	map,
		PointCloud< Dim, T, Rest... > const &	cloud,
		Vec< Dim, T > const &	sensor_origin
	)		const

inlineprotected

Definition at line 292 of file integrator.hpp.

◆ insertHits() [3/4]

template<std::size_t Dim>

template<class Map , class T , class... Rest>

void ufo::Integrator< Dim >::insertHits	(	Map &	map,
		PointCloud< Dim, T, Rest... > const &	cloud
	)		const

inlineprotected

Definition at line 172 of file integrator.hpp.

◆ insertHits() [4/4]

template<std::size_t Dim>

template<class Map , class T , class... Rest>

void ufo::Integrator< Dim >::insertHits	(	Map &	map,
		PointCloud< Dim, T, Rest... > const &	cloud,
		Vec< Dim, T > const &	sensor_origin
	)		const

inlineprotected

Definition at line 262 of file integrator.hpp.

◆ insertMiss()

template<std::size_t Dim>

template<class Map >

void ufo::Integrator< Dim >::insertMiss	(	Map &	map,
		detail::Miss< Dim > const &	miss,
		logit_t	occupancy,
		logit_t	occupancy_min,
		logit_t	occupancy_max
	)		const

inlineprotected

Definition at line 328 of file integrator.hpp.

◆ insertMisses() [1/2]

template<std::size_t Dim>

template<class ExecutionPolicy , class Map , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>

void ufo::Integrator< Dim >::insertMisses	(	ExecutionPolicy &&	policy,
		Map &	map,
		std::vector< detail::Miss< Dim > > &	misses
	)		const

inlineprotected

Definition at line 374 of file integrator.hpp.

◆ insertMisses() [2/2]

template<std::size_t Dim>

template<class Map >

void ufo::Integrator< Dim >::insertMisses	(	Map &	map,
		std::vector< detail::Miss< Dim > > &	misses
	)		const

inlineprotected

Definition at line 354 of file integrator.hpp.

◆ operator()() [1/2]

template<std::size_t Dim>

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>

void ufo::Integrator< Dim >::operator()	(	ExecutionPolicy &&	policy,
		Map &	map,
		PointCloud< Dim, T, Rest... >	cloud,
		Transform< Dim, T > const &	transform = `{}`
	)		const

inline

Definition at line 130 of file integrator.hpp.

◆ operator()() [2/2]

template<std::size_t Dim>

template<class Map , class T , class... Rest>

void ufo::Integrator< Dim >::operator()	(	Map &	map,
		PointCloud< Dim, T, Rest... >	cloud,
		Transform< Dim, T > const &	transform = `{}`
	)		const

inline

Definition at line 121 of file integrator.hpp.

Member Data Documentation

◆ cached_hits_

template<std::size_t Dim>

__block std::vector<detail::Hit<Dim> > ufo::Integrator< Dim >::cached_hits_

mutableprotected

Definition at line 393 of file integrator.hpp.

◆ count_sample_method

template<std::size_t Dim>

CountSamplingMethod ufo::Integrator< Dim >::count_sample_method = CountSamplingMethod::NONE

Definition at line 106 of file integrator.hpp.

◆ free_hits

template<std::size_t Dim>

bool ufo::Integrator< Dim >::free_hits = false

Definition at line 102 of file integrator.hpp.

◆ hit_depth

template<std::size_t Dim>

depth_t ufo::Integrator< Dim >::hit_depth = 0

Definition at line 89 of file integrator.hpp.

◆ miss_depth

template<std::size_t Dim>

depth_t ufo::Integrator< Dim >::miss_depth = 0

Definition at line 90 of file integrator.hpp.

◆ occupancy_hit

template<std::size_t Dim>

occupancy_t ufo::Integrator< Dim >::occupancy_hit = 0.75f

Definition at line 92 of file integrator.hpp.

◆ occupancy_max_clamp_thres

template<std::size_t Dim>

logit_t ufo::Integrator< Dim >::occupancy_max_clamp_thres = 0.971f

Definition at line 94 of file integrator.hpp.

◆ occupancy_min_clamp_thres

template<std::size_t Dim>

logit_t ufo::Integrator< Dim >::occupancy_min_clamp_thres = 0.1192f

Definition at line 95 of file integrator.hpp.

◆ occupancy_miss

template<std::size_t Dim>

occupancy_t ufo::Integrator< Dim >::occupancy_miss = 0.45f

Definition at line 93 of file integrator.hpp.

◆ propagate

template<std::size_t Dim>

bool ufo::Integrator< Dim >::propagate = false

Definition at line 113 of file integrator.hpp.

◆ prune

template<std::size_t Dim>

bool ufo::Integrator< Dim >::prune = true

Definition at line 114 of file integrator.hpp.

◆ reset_modified

template<std::size_t Dim>

bool ufo::Integrator< Dim >::reset_modified = true

Definition at line 115 of file integrator.hpp.

◆ sample_method

template<std::size_t Dim>

DownSamplingMethod ufo::Integrator< Dim >::sample_method = DownSamplingMethod::NONE

Definition at line 99 of file integrator.hpp.

◆ verbose

template<std::size_t Dim>

bool ufo::Integrator< Dim >::verbose = false

Definition at line 104 of file integrator.hpp.

◆ void_region_distance

template<std::size_t Dim>

unsigned ufo::Integrator< Dim >::void_region_distance = 2

Definition at line 97 of file integrator.hpp.

◆ void_region_instant_max_occupancy

template<std::size_t Dim>

bool ufo::Integrator< Dim >::void_region_instant_max_occupancy = true

Definition at line 109 of file integrator.hpp.

◆ void_region_instant_min_occupancy

template<std::size_t Dim>

bool ufo::Integrator< Dim >::void_region_instant_min_occupancy = true

Definition at line 111 of file integrator.hpp.

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

lib/map/include/ufo/map/integrator/integrator.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ depth_t

◆ logit_t

◆ occupancy_t

Member Function Documentation

◆ insertHit() [1/2]

◆ insertHit() [2/2]

◆ insertHits() [1/4]

◆ insertHits() [2/4]

◆ insertHits() [3/4]

◆ insertHits() [4/4]

◆ insertMiss()

◆ insertMisses() [1/2]

◆ insertMisses() [2/2]

◆ operator()() [1/2]

◆ operator()() [2/2]

Member Data Documentation

◆ cached_hits_

◆ count_sample_method

◆ free_hits

◆ hit_depth

◆ miss_depth

◆ occupancy_hit

◆ occupancy_max_clamp_thres

◆ occupancy_min_clamp_thres

◆ occupancy_miss

◆ propagate

◆ prune

◆ reset_modified

◆ sample_method

◆ verbose

◆ void_region_distance

◆ void_region_instant_max_occupancy

◆ void_region_instant_min_occupancy