#include <optional>#include <se/map/octree/allocator.hpp>#include <se/map/octree/fetcher.hpp>#include "impl/visitor_impl.hpp"
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Namespaces | |
| namespace | se |
| Helper wrapper to allocate and de-allocate octants in the octree. | |
| namespace | se::visitor |
Functions | |
| template<typename OctreeT > | |
| OctreeT::DataType | se::visitor::getData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord) |
| Single/multi-res get data functions. | |
| template<typename OctreeT , typename BlockT > | |
| OctreeT::DataType | se::visitor::getData (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord) |
| Get the voxel data for a given coordinate. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType > | se::visitor::getData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned) |
| Multi-res get data functions. | |
| template<typename OctreeT , typename BlockT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType > | se::visitor::getData (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned) |
| Get the voxel data for a given coordinate and desired scale. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::DataType::fld_==se::Field::Occupancy, typename OctreeT::DataType > | se::visitor::getMinData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired) |
| Get the min occupancy data at a given scale. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::DataType::fld_==Field::Occupancy, typename OctreeT::DataType > | se::visitor::getMaxData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired) |
| Get the max occupancy data at a given scale. | |
| template<typename OctreeT > | |
| std::optional< field_t > | se::visitor::getField (const OctreeT &octree, const Eigen::Vector3i &voxel_coord) |
| Single/Multi-res get field functions. | |
| template<typename OctreeT , typename BlockT > | |
| std::optional< field_t > | se::visitor::getField (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord) |
| Get the field value for a given coordinate. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > | se::visitor::getField (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned) |
| Multi-res get field functions. | |
| template<typename OctreeT , typename BlockT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > | se::visitor::getField (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned) |
| Get the field value for a given coordinate and desired scale. | |
| template<typename OctreeT , typename ValidF , typename GetF > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > > | se::visitor::getInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, ValidF valid, GetF get, const int desired_scale=0, int *const returned_scale=nullptr) |
| Interpolate a member of se::Octree::DataType at the supplied voxel coordinates and desired scale. | |
| template<typename OctreeT , typename ValidF , typename GetF > | |
| std::enable_if_t< OctreeT::res_==Res::Single, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > > | se::visitor::getInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, ValidF valid, GetF get) |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > | se::visitor::getFieldInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int desired_scale=0, int *const returned_scale=nullptr) |
| Interpolate the field at the supplied voxel coordinates and desired scale. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_t > > | se::visitor::getFieldInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f) |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi &&OctreeT::col_==Colour::On, std::optional< colour_t > > | se::visitor::getColourInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int desired_scale=0, int *const returned_scale=nullptr) |
| Interpolate the colour at the supplied voxel coordinates and desired scale. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Single &&OctreeT::col_==Colour::On, std::optional< colour_t > > | se::visitor::getColourInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f) |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_vec_t > > | se::visitor::getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f) |
| Single-res get gradient functions. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > | se::visitor::getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f) |
| Multi-res get gradient functions. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > | se::visitor::getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, int &scale_returned) |
| Get the field gradient for a given coordinate [float voxel coordinates]. | |
| template<typename OctreeT > | |
| std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > | se::visitor::getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int scale_desired, int &scale_returned) |
| Get the field gradient for a given coordinate [float voxel coordinates] and desired scale. | |
