Template Class SpatialDatabase¶

Defined in File spatial-database.h

Class Documentation¶

template<typename ObjectIdType> class vi_map_helpers::SpatialDatabase¶

Public Types

typedef std::unordered_map<Eigen::Vector3i, std::vector<ObjectIdType>> SpatialMap¶

typedef AlignedUnorderedSet<Eigen::Vector3i> GridCellSet¶

typedef AlignedUnorderedMap<vi_map::MissionId, GridCellSet> MissionGridCellsMap¶

typedef SpatialMap::value_type value_type¶

typedef SpatialMap::const_iterator const_iterator¶

Public Functions

SpatialDatabase(const vi_map::VIMap &map, const Eigen::Vector3i &grid_resolution)¶

SpatialDatabase(const vi_map::VIMap &map, const Eigen::Vector3d &grid_cell_size)¶

const_iterator begin() const¶

const_iterator end() const¶

void getGridResolution(Eigen::Vector3i *resolution) const¶

void getObjectIdsInRadius(const Eigen::Vector3d &p_G_center, double radius_meters, std::unordered_set<ObjectIdType> *neighbors) const¶

void getObjectIdsOfMissionInRadius(const vi_map::MissionId &mission_id, const Eigen::Vector3d &p_G_center, double radius, std::unordered_set<ObjectIdType> *neighbors) const¶

bool isCellEmpty(const Eigen::Vector3i &grid_index_3d) const¶

double getDistanceToMission(const Eigen::Vector3d &p_G, const vi_map::MissionId &mission_id) const¶

double getSquaredDistanceToGridCell(const Eigen::Vector3d &p_G, const Eigen::Vector3i &grid_index) const¶

void getObjectIdsInCuboid(const Eigen::Vector3d &p_G_min, const Eigen::Vector3d &p_G_max, std::vector<ObjectIdType> *output_vertex_ids) const¶

void getObjectIdsOfMissionInCuboid(const vi_map::MissionId &mission_id, const Eigen::Vector3d &p_G_min, const Eigen::Vector3d &p_G_max, std::vector<ObjectIdType> *output_object_ids) const¶

void getObjectIdsOfGridIndex(const Eigen::Vector3i &grid_index, std::vector<ObjectIdType> *grid_unit_vertex_ids) const¶

void getGridIndexForPosition(const Eigen::Vector3d &p_G_I, Eigen::Vector3i *grid_index_3d) const¶

Eigen::Vector3d getGridCellCenterPositionForGridIndex(const Eigen::Vector3i &grid_index_3d) const¶

Eigen::Vector3d getGridCellSize() const¶

const vi_map::VIMap &getMap() const¶

inline size_t size() const¶

inline size_t empty() const¶

Protected Attributes

const vi_map::VIMap &map_¶