GridGeometry Struct Reference

Structure to hold grid geometry parameters and provide utility functions. More...

#include <grid_geometry.hpp>

Collaboration diagram for GridGeometry:

Public Member Functions
	GridGeometry (double angle_, double radius_, double start_aug_, double radius_aug_, double fov_)
	Constructor to initialize grid geometry parameters.
int	get_slice_index (double x, double y) const
	Compute slice index for a given (x, y)
int	get_bin_index (double x, double y) const
	Compute bin index for a given (x, y)
int	get_num_slices () const
	Get the number of slices in the grid.
int	get_num_bins (double range) const
	Get the number of bins for a given range.

Public Attributes
double	angle
double	radius
double	start_augmentation
double	radius_augmentation
double	fov

Detailed Description

Structure to hold grid geometry parameters and provide utility functions.

Definition at line 11 of file grid_geometry.hpp.

Constructor & Destructor Documentation

GridGeometry()

GridGeometry::GridGeometry	(	double	angle_,
		double	radius_,
		double	start_aug_,
		double	radius_aug_,
		double	fov_
	)

Constructor to initialize grid geometry parameters.

Parameters

angle_	Angular resolution
radius_	Base radial bin size
start_aug_	Distance at which augmentation starts
radius_aug_	Bin size increase per bin
fov_	Field of view

Definition at line 3 of file grid_geometry.cpp.

Member Function Documentation

get_bin_index()

int GridGeometry::get_bin_index	(	double	x,
		double	y
	)		const

Compute bin index for a given (x, y)

Parameters

x	X coordinate
y	Y coordinate

Returns

Bin index

Definition at line 22 of file grid_geometry.cpp.

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get_num_bins()

int GridGeometry::get_num_bins

(

double

range

)

const

Get the number of bins for a given range.

Parameters

range

Distance from origin

Returns

Number of bins

Definition at line 45 of file grid_geometry.cpp.

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get_num_slices()

int GridGeometry::get_num_slices

(

)

const

Get the number of slices in the grid.

Definition at line 41 of file grid_geometry.cpp.

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get_slice_index()

int GridGeometry::get_slice_index	(	double	x,
		double	y
	)		const

Compute slice index for a given (x, y)

Parameters

x	X coordinate
y	Y coordinate

Returns

Slice index

Definition at line 11 of file grid_geometry.cpp.

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Member Data Documentation

angle

double GridGeometry::angle

Definition at line 12 of file grid_geometry.hpp.

fov

double GridGeometry::fov

Definition at line 16 of file grid_geometry.hpp.

radius

double GridGeometry::radius

Definition at line 13 of file grid_geometry.hpp.

radius_augmentation

double GridGeometry::radius_augmentation

Definition at line 15 of file grid_geometry.hpp.

start_augmentation

double GridGeometry::start_augmentation

Definition at line 14 of file grid_geometry.hpp.

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

• src/perception/include/utils/grid_geometry.hpp
• src/perception/src/utils/grid_geometry.cpp