Voxel container used in leaves of the VoxelOctree. Mix between a fixed size 3D array (like in ArrayContainer) and a dynamic array. Useful for little density of voxels. More...

#include <SparseContainer.hpp>

Public Types
using	VoxelData = T_Voxel

using	VoxelContainer = SparseContainer< T_Voxel, T_Container >

using	iterator = container_iterator< VoxelContainer >

Public Member Functions
	SparseContainer ()=default
	Default constructor. More...

	SparseContainer (SparseContainer const &other)=default
	Default copy constructor. More...

void	init (VoxelNode< VoxelContainer > const &)
	Initialization method, do nothing. More...

uint16_t	getNbVoxel () const
	Returns number of voxels. More...

bool	hasVoxel (uint8_t x) const
	Check if there is voxel inside. More...

bool	hasVoxel (uint8_t x, uint8_t y) const
	Check if there is voxel inside. More...

bool	hasVoxel (uint8_t x, uint8_t y, uint8_t z) const
	Check if voxel exist. More...

VoxelData *	findVoxel (uint8_t x, uint8_t y, uint8_t z)
	Find voxel. More...

VoxelData const *	findVoxel (uint8_t x, uint8_t y, uint8_t z) const
	Find voxel. More...

template<typename Iterator >
VoxelData *	findVoxel (Iterator &it)
	Find voxel. More...

template<typename Iterator >
VoxelData const *	findVoxel (Iterator &it) const
	Find voxel. More...

template<typename Iterator , typename... Args>
bool	addVoxel (Iterator &it, Args &&... args)
	Add a voxel, don't update an existing voxel. More...

template<typename Iterator , typename... Args>
bool	updateVoxel (Iterator &it, Args &&... args)
	Update an existing voxel, don't create a new one. More...

template<typename Iterator , typename... Args>
void	putVoxel (Iterator &it, Args &&... args)
	Add or update a voxel. More...

template<typename Iterator >
bool	removeVoxel (Iterator const &it, VoxelData *voxel=nullptr)
	Remove an existing voxel. More...

template<typename Iterator >
void	exploreVoxel (Iterator &it, std::function< void(Iterator const &)> const &predicate) const
	Go through all voxels of the container and call the predicate for each. More...

void	exploreVoxelContainer (std::function< void(SparseContainer const &)> const &predicate) const

void	serialize (std::string &str) const
	Serialize the structure. More...

size_t	unserialize (char const *str, size_t size)
	Unserialize str inside this. More...

Static Public Attributes
static const uint32_t	NB_VOXELS = 8

static const uint32_t	COORD_MASK = ~(NB_VOXELS - 1)

static const uint32_t	VOXEL_MASK = NB_VOXELS - 1

static const uint32_t	NB_SUPERCONTAINER = 0

Private Attributes
SparseIDArray< T_Voxel, NB_VOXELS, T_Container >	_sparseArray

Detailed Description

template<class T_Voxel, template< class... > class T_Container = std::vector>
class voxomap::SparseContainer< T_Voxel, T_Container >

Voxel container used in leaves of the VoxelOctree. Mix between a fixed size 3D array (like in ArrayContainer) and a dynamic array. Useful for little density of voxels.

Advantages:
- Good access/update performance (~= ArrayContainer)
- Small memory footprint
Disadvantages:
- Less performant on add/remove than the ArrayContainer
- Bigger memory footprint than the ArrayContainer when high density

The container uses 3 arrays:

A dynamic vector that contains the voxels
A fixed size array (like ArrayContainer) that contains the voxel id inside the above vector, 0 if there is no voxel
A dynamic vector that contains the unused voxel inside the first vector. Due to performance issue, the removed voxel are not removed from the first vector.

Definition at line 32 of file SparseContainer.hpp.

Member Typedef Documentation

◆ VoxelData

template<class T_Voxel , template< class... > class T_Container = std::vector>

using voxomap::SparseContainer< T_Voxel, T_Container >::VoxelData = T_Voxel

Definition at line 35 of file SparseContainer.hpp.

◆ VoxelContainer

template<class T_Voxel , template< class... > class T_Container = std::vector>

using voxomap::SparseContainer< T_Voxel, T_Container >::VoxelContainer = SparseContainer<T_Voxel, T_Container>

Definition at line 36 of file SparseContainer.hpp.

◆ iterator

template<class T_Voxel , template< class... > class T_Container = std::vector>

using voxomap::SparseContainer< T_Voxel, T_Container >::iterator = container_iterator<VoxelContainer>

Definition at line 37 of file SparseContainer.hpp.

Constructor & Destructor Documentation

◆ SparseContainer() [1/2]

template<class T_Voxel , template< class... > class T_Container = std::vector>

voxomap::SparseContainer< T_Voxel, T_Container >::SparseContainer ( )

default

Default constructor.

◆ SparseContainer() [2/2]

template<class T_Voxel , template< class... > class T_Container = std::vector>

voxomap::SparseContainer< T_Voxel, T_Container >::SparseContainer ( SparseContainer< T_Voxel, T_Container > const & other )

default

Default copy constructor.

Member Function Documentation

◆ init()

template<class T_Voxel , template< class... > class T_Container = std::vector>

void voxomap::SparseContainer< T_Voxel, T_Container >::init ( VoxelNode< VoxelContainer > const & )

Initialization method, do nothing.

Definition at line 56 of file SparseContainer.hpp.

◆ getNbVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

uint16_t voxomap::SparseContainer< T_Voxel, T_Container >::getNbVoxel ( ) const

Returns number of voxels.

◆ hasVoxel() [1/3]

template<class T_Voxel , template< class... > class T_Container = std::vector>

bool voxomap::SparseContainer< T_Voxel, T_Container >::hasVoxel ( uint8_t x ) const

Check if there is voxel inside.

Parameters

x X index

Returns: True if there is a voxel

◆ hasVoxel() [2/3]

template<class T_Voxel , template< class... > class T_Container = std::vector>

bool voxomap::SparseContainer< T_Voxel, T_Container >::hasVoxel	(	uint8_t	x,
		uint8_t	y
	)		const

Check if there is voxel inside.

Parameters

x	X index
y	Y index

Returns: True if there is a voxel

◆ hasVoxel() [3/3]

template<class T_Voxel , template< class... > class T_Container = std::vector>

bool voxomap::SparseContainer< T_Voxel, T_Container >::hasVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Check if voxel exist.

Parameters

x	X index
y	Y index
z	Z index

Returns: True if voxel exist

◆ findVoxel() [1/4]

template<class T_Voxel , template< class... > class T_Container = std::vector>

VoxelData* voxomap::SparseContainer< T_Voxel, T_Container >::findVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)

Find voxel.

Parameters

x	X index
y	Y index
z	Z index

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [2/4]

template<class T_Voxel , template< class... > class T_Container = std::vector>

VoxelData const* voxomap::SparseContainer< T_Voxel, T_Container >::findVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Find voxel.

Parameters

x	X index
y	Y index
z	Z index

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [3/4]

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator >

VoxelData* voxomap::SparseContainer< T_Voxel, T_Container >::findVoxel ( Iterator & it )

Find voxel.

Parameters

it	The iterator

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [4/4]

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator >

VoxelData const* voxomap::SparseContainer< T_Voxel, T_Container >::findVoxel ( Iterator & it ) const

Find voxel.

Parameters

it	The iterator

Returns: The voxel if exists, otherwise nullptr

◆ addVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator , typename... Args>

bool voxomap::SparseContainer< T_Voxel, T_Container >::addVoxel	(	Iterator &	it,
		Args &&...	args
	)

Add a voxel, don't update an existing voxel.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

Returns: True if success and update it

◆ updateVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator , typename... Args>

bool voxomap::SparseContainer< T_Voxel, T_Container >::updateVoxel	(	Iterator &	it,
		Args &&...	args
	)

Update an existing voxel, don't create a new one.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

Returns: True if success

◆ putVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator , typename... Args>

void voxomap::SparseContainer< T_Voxel, T_Container >::putVoxel	(	Iterator &	it,
		Args &&...	args
	)

Add or update a voxel.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

◆ removeVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator >

bool voxomap::SparseContainer< T_Voxel, T_Container >::removeVoxel	(	Iterator const &	it,
		VoxelData *	voxel = `nullptr`
	)

Remove an existing voxel.

Parameters

it	Iterator that contains the informations
voxel	Pointer on a voxel structure, filled with the data of the removed voxel

Returns: True if success

◆ exploreVoxel()

template<class T_Voxel , template< class... > class T_Container = std::vector>

template<typename Iterator >

void voxomap::SparseContainer< T_Voxel, T_Container >::exploreVoxel	(	Iterator &	it,
		std::function< void(Iterator const &)> const &	predicate
	)		const

Go through all voxels of the container and call the predicate for each.

Parameters

it	Begin iterator
predicate	Function called for each voxel found

◆ exploreVoxelContainer()

template<class T_Voxel , template< class... > class T_Container = std::vector>

void voxomap::SparseContainer< T_Voxel, T_Container >::exploreVoxelContainer ( std::function< void(SparseContainer< T_Voxel, T_Container > const &)> const & predicate ) const

◆ serialize()

template<class T_Voxel , template< class... > class T_Container = std::vector>

void voxomap::SparseContainer< T_Voxel, T_Container >::serialize ( std::string & str ) const

Serialize the structure.

Parameters

str	String use for save the serialization

◆ unserialize()

template<class T_Voxel , template< class... > class T_Container = std::vector>

size_t voxomap::SparseContainer< T_Voxel, T_Container >::unserialize	(	char const *	str,
		size_t	size
	)

Unserialize str inside this.

Parameters

str	String that contains data
size	Size of the string

Returns: Number of bytes read inside str

Member Data Documentation

◆ NB_VOXELS

template<class T_Voxel , template< class... > class T_Container = std::vector>

const uint32_t voxomap::SparseContainer< T_Voxel, T_Container >::NB_VOXELS = 8

static

Definition at line 39 of file SparseContainer.hpp.

◆ COORD_MASK

template<class T_Voxel , template< class... > class T_Container = std::vector>

const uint32_t voxomap::SparseContainer< T_Voxel, T_Container >::COORD_MASK = ~(NB_VOXELS - 1)

static

Definition at line 40 of file SparseContainer.hpp.

◆ VOXEL_MASK

template<class T_Voxel , template< class... > class T_Container = std::vector>

const uint32_t voxomap::SparseContainer< T_Voxel, T_Container >::VOXEL_MASK = NB_VOXELS - 1

static

Definition at line 41 of file SparseContainer.hpp.

◆ NB_SUPERCONTAINER

template<class T_Voxel , template< class... > class T_Container = std::vector>

const uint32_t voxomap::SparseContainer< T_Voxel, T_Container >::NB_SUPERCONTAINER = 0

static

Definition at line 42 of file SparseContainer.hpp.

◆ _sparseArray

template<class T_Voxel , template< class... > class T_Container = std::vector>

SparseIDArray<T_Voxel, NB_VOXELS, T_Container> voxomap::SparseContainer< T_Voxel, T_Container >::_sparseArray

private

Definition at line 171 of file SparseContainer.hpp.

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

C:/Users/micce/projects/voxomap/voxel_octree/VoxelContainer/SparseContainer.hpp

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

template<class T_Voxel, template< class... > class T_Container = std::vector> class voxomap::SparseContainer< T_Voxel, T_Container >

Member Typedef Documentation

◆ VoxelData

◆ VoxelContainer

◆ iterator

Constructor & Destructor Documentation

◆ SparseContainer() [1/2]

◆ SparseContainer() [2/2]

Member Function Documentation

◆ init()

◆ getNbVoxel()

◆ hasVoxel() [1/3]

◆ hasVoxel() [2/3]

◆ hasVoxel() [3/3]

◆ findVoxel() [1/4]

◆ findVoxel() [2/4]

◆ findVoxel() [3/4]

◆ findVoxel() [4/4]

◆ addVoxel()

◆ updateVoxel()

◆ putVoxel()

◆ removeVoxel()

◆ exploreVoxel()

◆ exploreVoxelContainer()

◆ serialize()

◆ unserialize()

Member Data Documentation

◆ NB_VOXELS

◆ COORD_MASK

◆ VOXEL_MASK

◆ NB_SUPERCONTAINER

◆ _sparseArray

template<class T_Voxel, template< class... > class T_Container = std::vector>
class voxomap::SparseContainer< T_Voxel, T_Container >