nav2_voxel_grid::VoxelGrid Class Reference

Public Member Functions
	VoxelGrid (unsigned int size_x, unsigned int size_y, unsigned int size_z)
	Constructor for a voxel grid. More...
void	resize (unsigned int size_x, unsigned int size_y, unsigned int size_z)
	Resizes a voxel grid to the desired size. More...
void	reset ()
uint32_t *	getData ()
void	markVoxel (unsigned int x, unsigned int y, unsigned int z)
bool	markVoxelInMap (unsigned int x, unsigned int y, unsigned int z, unsigned int marked_threshold)
void	clearVoxel (unsigned int x, unsigned int y, unsigned int z)
void	clearVoxelColumn (unsigned int index)
void	clearVoxelInMap (unsigned int x, unsigned int y, unsigned int z)
bool	bitsBelowThreshold (unsigned int n, unsigned int bit_threshold)
void	markVoxelLine (double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX)
void	clearVoxelLine (double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX, unsigned int min_length=0)
void	clearVoxelLineInMap (double x0, double y0, double z0, double x1, double y1, double z1, unsigned char *map_2d, unsigned int unknown_threshold, unsigned int mark_threshold, unsigned char free_cost=0, unsigned char unknown_cost=255, unsigned int max_length=UINT_MAX, unsigned int min_length=0)
VoxelStatus	getVoxel (unsigned int x, unsigned int y, unsigned int z)
VoxelStatus	getVoxelColumn (unsigned int x, unsigned int y, unsigned int unknown_threshold=0, unsigned int marked_threshold=0)
void	printVoxelGrid ()
void	printColumnGrid ()
unsigned int	sizeX ()
unsigned int	sizeY ()
unsigned int	sizeZ ()
template<class ActionType >
void	raytraceLine (ActionType at, double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length=UINT_MAX, unsigned int min_length=0)

Static Public Member Functions
static unsigned int	numBits (unsigned int n)
static VoxelStatus	getVoxel (unsigned int x, unsigned int y, unsigned int z, unsigned int size_x, unsigned int size_y, unsigned int size_z, const uint32_t *data)

Detailed Description

Definition at line 67 of file voxel_grid.hpp.

Constructor & Destructor Documentation

VoxelGrid()

VoxelGrid::VoxelGrid	(	unsigned int	size_x,
		unsigned int	size_y,
		unsigned int	size_z
	)

Constructor for a voxel grid.

Parameters

size_x	The x size of the grid
size_y	The y size of the grid
size_z	The z size of the grid, only sizes <= 16 are supported

Definition at line 44 of file voxel_grid.cpp.

Member Function Documentation

resize()

void VoxelGrid::resize	(	unsigned int	size_x,
		unsigned int	size_y,
		unsigned int	size_z
	)

Resizes a voxel grid to the desired size.

Parameters

size_x	The x size of the grid
size_y	The y size of the grid
size_z	The z size of the grid, only sizes <= 16 are supported

Definition at line 67 of file voxel_grid.cpp.

Referenced by nav2_costmap_2d::VoxelLayer::matchSize().

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

• nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp
• nav2_voxel_grid/src/voxel_grid.cpp