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UFO 1.0.0
An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
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Public Types | |
| using | Bounds = typename Base::Bounds |
| using | Code = typename Base::Code |
| using | const_iterator = TreeSetIterator< true, Dim > |
| using | const_nearest_iterator = const_nearest_iterator_geom< DynamicGeometry > |
| template<class Geometry > | |
| using | const_nearest_iterator_geom = TreeSetNearestIterator< true, Dim, Geometry > |
| using | const_pointer = value_type const * |
| using | const_query_iterator = const_query_iterator_pred< pred::Predicate< TreeSet > > |
| template<class Predicate > | |
| using | const_query_iterator_pred = TreeSetQueryIterator< true, Dim, Predicate > |
| using | const_query_nearest_iterator = const_query_nearest_iterator_pred_geom< pred::Predicate< TreeSet >, DynamicGeometry > |
| template<class Predicate , class Geometry > | |
| using | const_query_nearest_iterator_pred_geom = TreeSetQueryNearestIterator< true, Dim, Predicate, Geometry > |
| using | const_reference = value_type const & |
| template<class Geometry > | |
| using | ConstNearest = IteratorWrapper< const_nearest_iterator_geom< Geometry >, const_nearest_iterator > |
| template<class Predicate > | |
| using | ConstQuery = IteratorWrapper< const_query_iterator_pred< Predicate >, const_query_iterator > |
| template<class Predicate , class Geometry > | |
| using | ConstQueryNearest = IteratorWrapper< const_query_nearest_iterator_pred_geom< Predicate, Geometry >, const_query_nearest_iterator > |
| using | Coord = typename Base::Coord |
| using | coord_t = typename Base::coord_t |
| using | depth_t = typename Base::depth_t |
| using | difference_type = std::ptrdiff_t |
| using | Index = typename Base::Index |
| using | iterator = const_iterator |
| using | Key = typename Base::Key |
| using | Length = typename Base::Length |
| using | length_t = typename Base::length_t |
| template<class Geometry > | |
| using | Nearest = ConstNearest< Geometry > |
| using | nearest_iterator = const_nearest_iterator |
| template<class Geometry > | |
| using | nearest_iterator_geom = const_nearest_iterator_geom< Geometry > |
| using | Node = typename Base::Node |
| using | offset_t = typename Base::offset_t |
| using | Point = typename Base::Point |
| using | pointer = value_type * |
| using | pos_t = typename Base::pos_t |
| template<class Predicate > | |
| using | Query = ConstQuery< Predicate > |
| using | query_iterator = const_query_iterator |
| template<class Predicate > | |
| using | query_iterator_pred = const_query_iterator_pred< Predicate > |
| using | query_nearest_iterator = const_query_nearest_iterator |
| template<class Predicate , class Geometry > | |
| using | query_nearest_iterator_pred_geom = const_query_nearest_iterator_pred_geom< Predicate, Geometry > |
| template<class Predicate , class Geometry > | |
| using | QueryNearest = ConstQueryNearest< Predicate, Geometry > |
| using | reference = value_type & |
| using | size_type = std::size_t |
| using | value_type = typename Block::value_type |
Public Member Functions | |
| template<class InputIt > | |
| TreeSet (InputIt first, InputIt last, length_t leaf_node_length=length_t(0.1), depth_t num_depth_levels=std::min(depth_t(17), Base::maxNumDepthLevels())) | |
| TreeSet (Length leaf_node_length=Length(0.1), depth_t num_depth_levels=std::min(depth_t(17), Base::maxNumDepthLevels())) | |
| TreeSet (length_t leaf_node_length, depth_t num_depth_levels=std::min(depth_t(17), Base::maxNumDepthLevels())) | |
| template<class Range > | |
| TreeSet (Range const &range, length_t leaf_node_length=length_t(0.1), depth_t num_depth_levels=std::min(depth_t(17), Base::maxNumDepthLevels())) | |
| TreeSet (std::initializer_list< value_type > init, length_t leaf_node_length=length_t(0.1), depth_t num_depth_levels=std::min(depth_t(17), Base::maxNumDepthLevels())) | |
| iterator | begin () |
| const_iterator | begin () const |
| template<class Geometry > | |
| nearest_iterator_geom< Geometry > | beginNearest (Geometry const &query, float epsilon=0.0f) |
| template<class Geometry > | |
| const_nearest_iterator_geom< Geometry > | beginNearest (Geometry const &query, float epsilon=0.0f) const |
| template<class Predicate > | |
| query_iterator_pred< Predicate > | beginQuery (Predicate const &pred) |
| template<class Predicate > | |
| const_query_iterator_pred< Predicate > | beginQuery (Predicate const &pred) const |
| template<class Predicate , class Geometry > | |
| query_nearest_iterator_pred_geom< Predicate, Geometry > | beginQueryNearest (Predicate const &pred, Geometry const &query, float epsilon=0.0f) |
| template<class Predicate , class Geometry > | |
| const_query_nearest_iterator_pred_geom< Predicate, Geometry > | beginQueryNearest (Predicate const &pred, Geometry const &query, float epsilon=0.0f) const |
| Bounds | bounds () const |
Returns the minimum Bounds able to contain all values stored in the container. | |
| template<class NodeType , std::enable_if_t< Base::template is_node_type_v< NodeType >, bool > = true> | |
| Bounds & | bounds (NodeType node) |
Returns the minimum Bounds able to contain all values stored in the node and all of its children. | |
| template<class NodeType , std::enable_if_t< Base::template is_node_type_v< NodeType >, bool > = true> | |
| Bounds const & | bounds (NodeType node) const |
Returns the minimum Bounds able to contain all values stored in the node and all of its children. | |
| const_iterator | cbegin () const |
| template<class Geometry > | |
| const_nearest_iterator_geom< Geometry > | cbeginNearest (Geometry const &query, float epsilon=0.0f) const |
| template<class Predicate > | |
| const_query_iterator_pred< Predicate > | cbeginQuery (Predicate const &pred) const |
| template<class Predicate , class Geometry > | |
| const_query_nearest_iterator_pred_geom< Predicate, Geometry > | cbeginQueryNearest (Predicate const &pred, Geometry const &query, float epsilon=0.0f) const |
| const_iterator | cend () const |
| const_nearest_iterator | cendNearest () const |
| const_query_iterator | cendQuery () const |
| const_query_nearest_iterator | cendQueryNearest () const |
| void | clear () |
Erases all elements from the container. After this call, size() returns zero. | |
| bool | contains (Point point) const |
Checks if there is an element with Point equivalent to point in the container. | |
| size_type | count (Point point) const |
| Returns the number of elements with Point that compares equivalent to the specified argument. | |
| bool | empty () const noexcept |
| Checks if the container has no elements. | |
| iterator | end () |
| const_iterator | end () const |
| nearest_iterator | endNearest () |
| const_nearest_iterator | endNearest () const |
| query_iterator | endQuery () |
| const_query_iterator | endQuery () const |
| query_nearest_iterator | endQueryNearest () |
| const_query_nearest_iterator | endQueryNearest () const |
| iterator | erase (const_iterator first, const_iterator last) |
| iterator | erase (const_iterator pos) |
| template<class Geometry > | |
| nearest_iterator_geom< Geometry > | erase (const_nearest_iterator_geom< Geometry > pos) |
| template<class Geometry1 , class Geometry2 > | |
| nearest_iterator_geom< Geometry1 > | erase (const_nearest_iterator_geom< Geometry1 > first, const_nearest_iterator_geom< Geometry2 > last) |
| template<class Predicate > | |
| query_iterator_pred< Predicate > | erase (const_query_iterator_pred< Predicate > pos) |
| template<class Predicate1 , class Predicate2 > | |
| query_iterator_pred< Predicate1 > | erase (const_query_iterator_pred< Predicate1 > first, const_query_iterator_pred< Predicate2 > last) |
| template<class Predicate , class Geometry > | |
| query_nearest_iterator_pred_geom< Predicate, Geometry > | erase (const_query_nearest_iterator_pred_geom< Predicate, Geometry > pos) |
| template<class Predicate1 , class Geometry1 , class Predicate2 , class Geometry2 > | |
| query_nearest_iterator_pred_geom< Predicate1, Geometry1 > | erase (const_query_nearest_iterator_pred_geom< Predicate1, Geometry1 > first, const_query_nearest_iterator_pred_geom< Predicate2, Geometry2 > last) |
| template<class Predicate > | |
| query_iterator_pred< Predicate > | erase (ConstQuery< Predicate > query) |
| template<class Predicate , class Geometry > | |
| query_nearest_iterator_pred_geom< Predicate, Geometry > | erase (ConstQueryNearest< Predicate, Geometry > query) |
| size_type | erase (value_type const &value) |
| template<class ExecutionPolicy , class RandomIt , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true> | |
| void | insert (ExecutionPolicy &&policy, RandomIt first, RandomIt last) |
| template<class ExecutionPolicy , class Range , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true> | |
| void | insert (ExecutionPolicy &&policy, Range const &r) |
| template<class ExecutionPolicy , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true> | |
| void | insert (ExecutionPolicy &&policy, std::initializer_list< value_type > ilist) |
| template<class InputIt > | |
| void | insert (InputIt first, InputIt last) |
| template<class Range > | |
| void | insert (Range const &r) |
| void | insert (std::initializer_list< value_type > ilist) |
| void | insert (value_type &&value) |
| void | insert (value_type const &value) |
| template<class Geometry > | |
| Nearest< Geometry > | nearest (Geometry const &query, float epsilon=0.0f) |
| template<class Geometry > | |
| ConstNearest< Geometry > | nearest (Geometry const &query, float epsilon=0.0f) const |
| template<class Geometry > | |
| float | nearestDistance (Geometry const &query, float max_distance=std::numeric_limits< float >::infinity(), float epsilon=0.0f, NearestSearchAlgorithm search_alg=NearestSearchAlgorithm::DEPTH_FIRST) const |
| template<class Geometry > | |
| std::pair< value_type, float > | nearestPoint (Geometry const &query, float max_distance=std::numeric_limits< float >::infinity(), float epsilon=0.0f, NearestSearchAlgorithm search_alg=NearestSearchAlgorithm::DEPTH_FIRST) const |
| template<class Predicate > | |
| Query< Predicate > | query (Predicate const &pred) |
| template<class Predicate > | |
| ConstQuery< Predicate > | query (Predicate const &pred) const |
| template<class Predicate , class Geometry > | |
| QueryNearest< Predicate, Geometry > | queryNearest (Predicate const &pred, Geometry const &query, float epsilon=0.0f) |
| template<class Predicate , class Geometry > | |
| ConstQueryNearest< Predicate, Geometry > | queryNearest (Predicate const &pred, Geometry const &query, float epsilon=0.0f) const |
| size_type | size () const noexcept |
| Returns the number of elements in the container. | |
| void | swap (TreeSet &other) |
Exchanges the contents of the container with those of other. | |
Protected Types | |
| using | Base = Tree< TreeSet, Dim, Block > |
| using | Block = TreeSetBlock< Dim, std::size_t(1)<< Dim > |
Protected Member Functions | |
| Point & | boundsMax (Index node) |
Returns the maximum point of the Bounds able to contain all values stored in the node and all of its children. | |
| Point | boundsMax (Index node) const |
Returns the maximum point of the Bounds able to contain all values stored in the node and all of its children. | |
| Point & | boundsMin (Index node) |
Returns the minimum point of the Bounds able to contain all values stored in the node and all of its children. | |
| Point | boundsMin (Index node) const |
Returns the minimum point of the Bounds able to contain all values stored in the node and all of its children. | |
| bool | empty (Index node) const noexcept |
| Checks if the node and none of its children have any elements. | |
| void | erase (typename container_type::const_iterator it) |
| void | erasePropagate (Index node) |
| void | insert (Index node, value_type &&value) |
| void | insert (Index node, value_type const &value) |
| void | insertPropagate (Index node, Point p) |
| void | onInitChildren (Index, pos_t) |
| void | onInitRoot () |
| void | onPruneChildren (Index, pos_t) |
| auto & | values (Index node) |
| auto const & | values (Index node) const |
| auto & | values (pos_t block) |
| auto const & | values (pos_t block) const |
Protected Attributes | |
| friend | Base |
| size_type | size_ {} |
Friends | |
| template<std::size_t D> | |
| bool | operator!= (TreeSet< D > const &lhs, TreeSet< D > const &rhs) |
| template<std::size_t D> | |
| bool | operator== (TreeSet< D > const &lhs, TreeSet< D > const &rhs) |
| template<class Geometry , pred::SpatialTag Tag, bool Negated> | |
| class | pred::Spatial |
| template<bool , std::size_t > | |
| class | TreeSetIterator |
| template<bool , std::size_t , class > | |
| class | TreeSetNearestIterator |
| template<bool , std::size_t , class > | |
| class | TreeSetQueryIterator |
| template<bool , std::size_t , class , class > | |
| class | TreeSetQueryNearestIterator |
Definition at line 65 of file tree_set.hpp.
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Definition at line 70 of file tree_set.hpp.
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Definition at line 69 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Bounds = typename Base::Bounds |
Definition at line 98 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Code = typename Base::Code |
Definition at line 94 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_iterator = TreeSetIterator<true, Dim> |
Definition at line 118 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_nearest_iterator = const_nearest_iterator_geom<DynamicGeometry> |
Definition at line 134 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_nearest_iterator_geom = TreeSetNearestIterator<true, Dim, Geometry> |
Definition at line 130 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_pointer = value_type const* |
Definition at line 111 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_query_iterator = const_query_iterator_pred<pred::Predicate<TreeSet> > |
Definition at line 126 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_query_iterator_pred = TreeSetQueryIterator<true, Dim, Predicate> |
Definition at line 122 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_query_nearest_iterator = const_query_nearest_iterator_pred_geom<pred::Predicate<TreeSet>, DynamicGeometry> |
Definition at line 144 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_query_nearest_iterator_pred_geom = TreeSetQueryNearestIterator<true, Dim, Predicate, Geometry> |
Definition at line 138 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::const_reference = value_type const& |
Definition at line 109 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::ConstNearest = IteratorWrapper<const_nearest_iterator_geom<Geometry>, const_nearest_iterator> |
Definition at line 155 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::ConstQuery = IteratorWrapper<const_query_iterator_pred<Predicate>, const_query_iterator> |
Definition at line 149 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::ConstQueryNearest = IteratorWrapper<const_query_nearest_iterator_pred_geom<Predicate, Geometry>, const_query_nearest_iterator> |
Definition at line 161 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Coord = typename Base::Coord |
Definition at line 97 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::coord_t = typename Base::coord_t |
Definition at line 100 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::depth_t = typename Base::depth_t |
Definition at line 101 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::difference_type = std::ptrdiff_t |
Definition at line 113 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Index = typename Base::Index |
Definition at line 92 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::iterator = const_iterator |
Definition at line 119 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Key = typename Base::Key |
Definition at line 95 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Length = typename Base::Length |
Definition at line 99 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::length_t = typename Base::length_t |
Definition at line 103 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Nearest = ConstNearest<Geometry> |
Definition at line 158 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::nearest_iterator = const_nearest_iterator |
Definition at line 135 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::nearest_iterator_geom = const_nearest_iterator_geom<Geometry> |
Definition at line 132 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Node = typename Base::Node |
Definition at line 93 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::offset_t = typename Base::offset_t |
Definition at line 102 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Point = typename Base::Point |
Definition at line 96 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::pointer = value_type* |
Definition at line 110 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::pos_t = typename Base::pos_t |
Definition at line 104 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::Query = ConstQuery<Predicate> |
Definition at line 152 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::query_iterator = const_query_iterator |
Definition at line 127 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::query_iterator_pred = const_query_iterator_pred<Predicate> |
Definition at line 124 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::query_nearest_iterator = const_query_nearest_iterator |
Definition at line 146 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::query_nearest_iterator_pred_geom = const_query_nearest_iterator_pred_geom<Predicate, Geometry> |
Definition at line 141 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::QueryNearest = ConstQueryNearest<Predicate, Geometry> |
Definition at line 165 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::reference = value_type& |
Definition at line 108 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::size_type = std::size_t |
Definition at line 112 of file tree_set.hpp.
| using ufo::TreeSet< Dim >::value_type = typename Block::value_type |
Definition at line 107 of file tree_set.hpp.
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Definition at line 334 of file tree_set.hpp.
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Returns the minimum Bounds able to contain all values stored in the container.
Bounds able to contain all values stored in the container. Definition at line 390 of file tree_set.hpp.
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Returns the minimum Bounds able to contain all values stored in the node and all of its children.
| node | the node to check |
Bounds able to contain all values stored in the node. Definition at line 834 of file tree_set.hpp.
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Returns the minimum Bounds able to contain all values stored in the node and all of its children.
| node | the node to check |
Bounds able to contain all values stored in the node. Definition at line 849 of file tree_set.hpp.
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Returns the maximum point of the Bounds able to contain all values stored in the node and all of its children.
| node | the node to return the maximum bounds point |
Bounds able to contain all values stored in the node. Definition at line 1054 of file tree_set.hpp.
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Returns the maximum point of the Bounds able to contain all values stored in the node and all of its children.
| node | the node to return the maximum bounds point |
Bounds able to contain all values stored in the node. Definition at line 1067 of file tree_set.hpp.
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Returns the minimum point of the Bounds able to contain all values stored in the node and all of its children.
| node | the node to return the minimum bounds point |
Bounds able to contain all values stored in the node. Definition at line 1028 of file tree_set.hpp.
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Returns the minimum point of the Bounds able to contain all values stored in the node and all of its children.
| node | the node to return the minimum bounds point |
Bounds able to contain all values stored in the node. Definition at line 1041 of file tree_set.hpp.
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Definition at line 359 of file tree_set.hpp.
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Erases all elements from the container. After this call, size() returns zero.
Definition at line 402 of file tree_set.hpp.
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Checks if there is an element with Point equivalent to point in the container.
| point | point of the element to search for |
true if there is such an element, otherwise false. Definition at line 718 of file tree_set.hpp.
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Returns the number of elements with Point that compares equivalent to the specified argument.
| point | point of the elements to count |
point. Definition at line 704 of file tree_set.hpp.
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Checks if the container has no elements.
true if the container is empty, false otherwise. Definition at line 375 of file tree_set.hpp.
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Checks if the node and none of its children have any elements.
| node | the node to check |
true if the node is empty, false otherwise. Definition at line 892 of file tree_set.hpp.
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Definition at line 760 of file tree_set.hpp.
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Returns the number of elements in the container.
Definition at line 382 of file tree_set.hpp.
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Exchanges the contents of the container with those of other.
| other | container to exchange the contents with |
Definition at line 685 of file tree_set.hpp.
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Definition at line 1010 of file tree_set.hpp.
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Definition at line 181 of file tree_set.hpp.
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Definition at line 77 of file tree_set.hpp.
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Definition at line 1073 of file tree_set.hpp.