se::FieldData< Field::Occupancy > Struct Reference

#include <data_field.hpp>

Classes
struct	Config

Public Member Functions
bool	valid () const
	Return whether the field data has been updated at least once.
bool	update (const field_t occupancy, const weight_t max_weight)
	Perform a weighted average log-odds occupancy update and set the data to observed, while ensuring the weight doesn't exceed max_weight.

Public Attributes
field_t	occupancy = 0
weight_t	weight = 0
bool	observed = false

Static Public Attributes
static constexpr bool	normals_along_gradient = false
	The direction of surface normals in occupancy fields is opposite from the direction of the field gradient.
static constexpr field_t	surface_boundary = 0
static constexpr field_t	min_occupancy = -100
static constexpr field_t	max_occupancy = 100

Member Function Documentation

valid()

bool se::FieldData< Field::Occupancy >::valid

(

)

const

Return whether the field data has been updated at least once.

update()

bool se::FieldData< Field::Occupancy >::update	(	const field_t	occupancy,
		const weight_t	max_weight
	)

Perform a weighted average log-odds occupancy update and set the data to observed, while ensuring the weight doesn't exceed max_weight.

Return whether the data was updated.

Member Data Documentation

occupancy

field_t se::FieldData< Field::Occupancy >::occupancy = 0

weight

weight_t se::FieldData< Field::Occupancy >::weight = 0

observed

bool se::FieldData< Field::Occupancy >::observed = false

normals_along_gradient

constexpr bool se::FieldData< Field::Occupancy >::normals_along_gradient = false

staticconstexpr

The direction of surface normals in occupancy fields is opposite from the direction of the field gradient.

This is because the occupancy field is negative in free space and positive in occupied space.

surface_boundary

constexpr field_t se::FieldData< Field::Occupancy >::surface_boundary = 0

staticconstexpr

min_occupancy

constexpr field_t se::FieldData< Field::Occupancy >::min_occupancy = -100

staticconstexpr

max_occupancy

constexpr field_t se::FieldData< Field::Occupancy >::max_occupancy = 100

staticconstexpr

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The documentation for this struct was generated from the following file:

• include/se/map/data_field.hpp