Class HashedWaveletOctree

• Defined in File hashed_wavelet_octree.h

Inheritance Relationships

Base Type

• public wavemap::MapBase (Class MapBase)

Class Documentation

class HashedWaveletOctree : public wavemap::MapBase

Public Types

using Ptr = std::shared_ptr<HashedWaveletOctree>

using ConstPtr = std::shared_ptr<const HashedWaveletOctree>

using Config = HashedWaveletOctreeConfig

using BlockIndex = Index3D

using CellIndex = OctreeIndex

using Block = HashedWaveletOctreeBlock

using BlockHashMap = SpatialHash<Block, kDim>

Public Functions

inline explicit HashedWaveletOctree(const HashedWaveletOctreeConfig &config)

HashedWaveletOctree(const HashedWaveletOctree&) = delete

inline virtual bool empty() const override

Whether the map is empty.

inline virtual size_t size() const override

The number of cells or nodes in the map.

virtual void threshold() override

Threshold the occupancy values of all cells in the map to stay within the range specified by its min_log_odds and max_log_odds.

virtual void prune() override

Free up memory by pruning nodes that are no longer needed.

Note

Implementations of this pruning operation should be lossless and does not alter the estimated occupancy posterior.

virtual void pruneSmart() override

Similar to prune(), but avoids de-allocating nodes that will likely be used again in the near future.

inline virtual void clear() override

Erase all cells in the map.

virtual size_t getMemoryUsage() const override

The amount of memory used by the map, in bytes.

virtual Index3D getMinIndex() const override

Index of the minimum corner of the map’s Axis Aligned Bounding Box.

virtual Index3D getMaxIndex() const override

Index of the maximum corner of the map’s Axis Aligned Bounding Box.

inline Index3D getMinBlockIndex() const

inline Index3D getMaxBlockIndex() const

inline virtual IndexElement getTreeHeight() const override

Height of the octree used to store the map.

Note

This value is only defined for multi-resolution maps.

inline Index3D getBlockSize() const

inline const HashedWaveletOctreeConfig &getConfig()

inline virtual FloatingPoint getCellValue(const Index3D &index) const override

Query the value of the map at a given index.

inline FloatingPoint getCellValue(const OctreeIndex &index) const

inline virtual void setCellValue(const Index3D &index, FloatingPoint new_value) override

Set the value of the map at a given index.

inline virtual void addToCellValue(const Index3D &index, FloatingPoint update) override

Increment the value of the map at a given index.

inline bool hasBlock(const Index3D &block_index) const

inline bool eraseBlock(const BlockIndex &block_index)

template<typename IndexedBlockVisitor>
void eraseBlockIf(IndexedBlockVisitor indicator_fn)

inline Block *getBlock(const Index3D &block_index)

inline const Block *getBlock(const Index3D &block_index) const

inline Block &getOrAllocateBlock(const Index3D &block_index)

inline auto &getHashMap()

inline const auto &getHashMap() const

template<typename IndexedBlockVisitor>
void forEachBlock(IndexedBlockVisitor visitor_fn)

template<typename IndexedBlockVisitor>
void forEachBlock(IndexedBlockVisitor visitor_fn) const

virtual void forEachLeaf(typename MapBase::IndexedLeafVisitorFunction visitor_fn) const override

inline BlockIndex indexToBlockIndex(const OctreeIndex &node_index) const

inline CellIndex indexToCellIndex(OctreeIndex index) const

Public Static Attributes

static constexpr bool kRequiresExplicitThresholding = true