Struct HashedChunkedWaveletOctreeConfig
Defined in File hashed_chunked_wavelet_octree.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< HashedChunkedWaveletOctreeConfig, 5 >(Template Struct ConfigBase)
Struct Documentation
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struct HashedChunkedWaveletOctreeConfig : public wavemap::ConfigBase<HashedChunkedWaveletOctreeConfig, 5>
Config struct for the hashed chunked wavelet octree volumetric data structure.
Public Functions
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inline HashedChunkedWaveletOctreeConfig(FloatingPoint min_cell_width, FloatingPoint min_log_odds, FloatingPoint max_log_odds, IndexElement tree_height, FloatingPoint only_prune_blocks_if_unused_for)
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inline operator MapBaseConfig() const
Public Members
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Meters<FloatingPoint> min_cell_width = 0.1f
Maximum resolution of the map, set as the width of the smallest cell that it can represent.
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FloatingPoint min_log_odds = -2.f
Lower threshold for the occupancy values stored in the map, in log-odds.
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FloatingPoint max_log_odds = 4.f
Upper threshold for the occupancy values stored in the map, in log-odds.
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IndexElement tree_height = 6
Height of the octree in each hashed block.
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Seconds<FloatingPoint> only_prune_blocks_if_unused_for = 5.f
Only prune blocks if they have not been updated for at least this amount of time.
Useful to avoid pruning blocks that are still being updated, whose nodes would most likely directly be reallocated if pruned.
Public Static Attributes
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static constexpr IndexElement kMaxSupportedTreeHeight = HashedChunkedWaveletOctreeBlock::kMaxSupportedTreeHeight
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inline HashedChunkedWaveletOctreeConfig(FloatingPoint min_cell_width, FloatingPoint min_log_odds, FloatingPoint max_log_odds, IndexElement tree_height, FloatingPoint only_prune_blocks_if_unused_for)