Class SpatialDatabaseVertexId

Inheritance Relationships

Base Type

Class Documentation

class vi_map_helpers::SpatialDatabaseVertexId : public vi_map_helpers::SpatialDatabase<pose_graph::VertexId>

Public Functions

SpatialDatabaseVertexId(const vi_map::VIMap &map, const Eigen::Vector3i &grid_resolution)
SpatialDatabaseVertexId(const vi_map::VIMap &map, const Eigen::Vector3d &grid_cell_size)
void getVertexIdsInRadiusWithinYawAngle(const aslam::Transformation &T_G_query_pose, double search_radius_meters, double yaw_angle_to_the_left_and_right_radians, pose_graph::VertexIdSet *neighbors) const