Template Class SpatialDatabase¶
Defined in File spatial-database.h
Class Documentation¶
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template<typename
ObjectIdType
>
classvi_map_helpers
::
SpatialDatabase
¶ Public Types
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typedef std::unordered_map<Eigen::Vector3i, std::vector<ObjectIdType>>
SpatialMap
¶
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typedef AlignedUnorderedSet<Eigen::Vector3i>
GridCellSet
¶
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typedef AlignedUnorderedMap<vi_map::MissionId, GridCellSet>
MissionGridCellsMap
¶
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typedef SpatialMap::value_type
value_type
¶
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typedef SpatialMap::const_iterator
const_iterator
¶
Public Functions
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const_iterator
begin
() const¶
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const_iterator
end
() const¶
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void
getGridResolution
(Eigen::Vector3i *resolution) const¶
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void
getObjectIdsInRadius
(const Eigen::Vector3d &p_G_center, double radius_meters, std::unordered_set<ObjectIdType> *neighbors) const¶
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void
getObjectIdsOfMissionInRadius
(const vi_map::MissionId &mission_id, const Eigen::Vector3d &p_G_center, double radius, std::unordered_set<ObjectIdType> *neighbors) const¶
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bool
isCellEmpty
(const Eigen::Vector3i &grid_index_3d) const¶
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double
getDistanceToMission
(const Eigen::Vector3d &p_G, const vi_map::MissionId &mission_id) const¶
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double
getSquaredDistanceToGridCell
(const Eigen::Vector3d &p_G, const Eigen::Vector3i &grid_index) const¶
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void
getObjectIdsInCuboid
(const Eigen::Vector3d &p_G_min, const Eigen::Vector3d &p_G_max, std::vector<ObjectIdType> *output_vertex_ids) const¶
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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¶
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void
getObjectIdsOfGridIndex
(const Eigen::Vector3i &grid_index, std::vector<ObjectIdType> *grid_unit_vertex_ids) const¶
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void
getGridIndexForPosition
(const Eigen::Vector3d &p_G_I, Eigen::Vector3i *grid_index_3d) const¶
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Eigen::Vector3d
getGridCellCenterPositionForGridIndex
(const Eigen::Vector3i &grid_index_3d) const¶
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Eigen::Vector3d
getGridCellSize
() const¶
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inline size_t
size
() const¶
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inline size_t
empty
() const¶
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typedef std::unordered_map<Eigen::Vector3i, std::vector<ObjectIdType>>