Struct WaveletOctreeConfig

• Defined in File wavelet_octree.h

Inheritance Relationships

Base Type

• public wavemap::ConfigBase< WaveletOctreeConfig, 4 > (Template Struct ConfigBase)

Struct Documentation

struct WaveletOctreeConfig : public wavemap::ConfigBase<WaveletOctreeConfig, 4>

Config struct for the wavelet octree volumetric data structure.

Public Functions

WaveletOctreeConfig() = default

inline WaveletOctreeConfig(FloatingPoint min_cell_width, FloatingPoint min_log_odds, FloatingPoint max_log_odds, IndexElement tree_height)

inline operator MapBaseConfig() const

virtual bool isValid(bool verbose) const override

Public Members

Meters<FloatingPoint> min_cell_width = 0.1f

Maximum resolution of the map, set as the width of the smallest cell that it can represent.

FloatingPoint min_log_odds = -2.f

Lower threshold for the occupancy values stored in the map, in log-odds.

FloatingPoint max_log_odds = 4.f

Upper threshold for the occupancy values stored in the map, in log-odds.

IndexElement tree_height = 14

Height of the octree used to store the map.

Public Static Attributes

static MemberMap memberMap