LookupGrid class implements a fast occupancy grid creation and intersection data structure. The user provides 2d min/max bounds on the grid as well as cell side length (cells are always square). The user can then add points into the grid. Cells which contain points are marked as occupied. Once the grid is populated, intersections can be checked against. If the queried point lands in an occupied cell the intersection is reported as true. More...

#include <lookup_grid.hpp>

Collaboration diagram for approximate_intersection::LookupGrid< PointT >:

Public Member Functions
	LookupGrid ()
	Default constructor Note: This constructor is provided for convenience but users should normally use the constructor which takes a Config object. More...

	LookupGrid (Config config)
	Constructor. More...

Config	get_config ()
	Return the current config. More...

bool	intersects (PointT point) const
	Checks if a point lies within an occupied cell of the grid. More...

void	insert (PointT point)
	Adds a point to the grid. The point must lie within the grid bounds. The cell which the point lies in is marked as occupied. More...

Protected Types
using	Hasher = autoware::common::geometry::spatial_hash::Config2d

using	HashIndex = autoware::common::geometry::spatial_hash::Index

Protected Attributes
Config	config_
	Configuration. More...

Hasher	hasher_
	Spatial hasher which defines the grid. More...

std::unordered_set< HashIndex >	occupied_cells_
	The set of occupied cells identified by their hash index. More...

Static Protected Attributes
static constexpr size_t	PLACE_HOLDER_CAPACITY = 1
	Static placeholder value for the Autoware.Auto Hasher in use which requires this value but does not utilize it. More...

Detailed Description

template<class PointT>
class approximate_intersection::LookupGrid< PointT >

LookupGrid class implements a fast occupancy grid creation and intersection data structure. The user provides 2d min/max bounds on the grid as well as cell side length (cells are always square). The user can then add points into the grid. Cells which contain points are marked as occupied. Once the grid is populated, intersections can be checked against. If the queried point lands in an occupied cell the intersection is reported as true.

Template Parameters

PointT The type of 2d point which the grid will be built from. Must have publicly accessible .x and .y members.

Definition at line 37 of file lookup_grid.hpp.

Member Typedef Documentation

◆ Hasher

template<class PointT >

using approximate_intersection::LookupGrid< PointT >::Hasher = autoware::common::geometry::spatial_hash::Config2d

protected

Definition at line 40 of file lookup_grid.hpp.

◆ HashIndex

template<class PointT >

using approximate_intersection::LookupGrid< PointT >::HashIndex = autoware::common::geometry::spatial_hash::Index

protected

Definition at line 41 of file lookup_grid.hpp.

Constructor & Destructor Documentation

◆ LookupGrid() [1/2]

template<class PointT >

approximate_intersection::LookupGrid< PointT >::LookupGrid ( )

inline

Default constructor Note: This constructor is provided for convenience but users should normally use the constructor which takes a Config object.

Definition at line 63 of file lookup_grid.hpp.

63:LookupGrid(Config()) {};

approximate_intersection::LookupGrid::LookupGrid

LookupGrid()

Default constructor Note: This constructor is provided for convenience but users should normally use ...

Definition: lookup_grid.hpp:63

◆ LookupGrid() [2/2]

template<class PointT >

approximate_intersection::LookupGrid< PointT >::LookupGrid ( Config config )

inline

Constructor.

Parameters

config The configuration for the grid.

Definition at line 70 of file lookup_grid.hpp.

                             :
      config_(config),
      hasher_(config.min_x, config.max_x, config.min_y, config.max_y, config.cell_side_length, PLACE_HOLDER_CAPACITY)
    {
      double dx = config.max_x - config.min_x;
      double dy = config.max_y - config.min_y;
      
      double rough_cell_side_count = 0;
      
      if (dx > dy) {
        rough_cell_side_count = dx / config.cell_side_length;
      } else {
        rough_cell_side_count = dy / config.cell_side_length;
      }
 
      occupied_cells_.reserve(rough_cell_side_count * rough_cell_side_count);
    }

References approximate_intersection::Config::cell_side_length, approximate_intersection::Config::max_x, approximate_intersection::Config::max_y, approximate_intersection::Config::min_x, approximate_intersection::Config::min_y, and approximate_intersection::LookupGrid< PointT >::occupied_cells_.

Member Function Documentation

◆ get_config()

template<class PointT >

Config approximate_intersection::LookupGrid< PointT >::get_config ( )

inline

Return the current config.

Returns: the config in use by this object

Definition at line 93 of file lookup_grid.hpp.

                        {
      return config_;
    }

References approximate_intersection::LookupGrid< PointT >::config_.

◆ insert()

template<class PointT >

void approximate_intersection::LookupGrid< PointT >::insert ( PointT point )

inline

Adds a point to the grid. The point must lie within the grid bounds. The cell which the point lies in is marked as occupied.

Parameters

point The point to add to the grid

Definition at line 121 of file lookup_grid.hpp.

                              {
      HashIndex cell = hasher_.bin(point.x, point.y, 0);
      occupied_cells_.insert(cell);
    }

References approximate_intersection::LookupGrid< PointT >::hasher_, approximate_intersection::LookupGrid< PointT >::occupied_cells_, and process_traj_logs::point.

◆ intersects()

template<class PointT >

bool approximate_intersection::LookupGrid< PointT >::intersects ( PointT point ) const

inline

Checks if a point lies within an occupied cell of the grid.

Parameters

point The point to check for intersection

Returns: True if the point lies within an occupied cell, false otherwise

Definition at line 104 of file lookup_grid.hpp.

                                        {
 
      HashIndex cell = hasher_.bin(point.x, point.y, 0);
 
      if (occupied_cells_.find(cell) != occupied_cells_.end()) {
        return true;
      }
 
      return false;
    }

References approximate_intersection::LookupGrid< PointT >::hasher_, approximate_intersection::LookupGrid< PointT >::occupied_cells_, and process_traj_logs::point.

Member Data Documentation

◆ config_

template<class PointT >

Config approximate_intersection::LookupGrid< PointT >::config_

protected

Configuration.

Definition at line 45 of file lookup_grid.hpp.

Referenced by approximate_intersection::LookupGrid< PointT >::get_config().

◆ hasher_

template<class PointT >

Hasher approximate_intersection::LookupGrid< PointT >::hasher_

protected

Spatial hasher which defines the grid.

Definition at line 48 of file lookup_grid.hpp.

Referenced by approximate_intersection::LookupGrid< PointT >::insert(), and approximate_intersection::LookupGrid< PointT >::intersects().

◆ occupied_cells_

template<class PointT >

std::unordered_set<HashIndex> approximate_intersection::LookupGrid< PointT >::occupied_cells_

protected

The set of occupied cells identified by their hash index.

Definition at line 51 of file lookup_grid.hpp.

Referenced by approximate_intersection::LookupGrid< PointT >::LookupGrid(), approximate_intersection::LookupGrid< PointT >::insert(), and approximate_intersection::LookupGrid< PointT >::intersects().

◆ PLACE_HOLDER_CAPACITY

template<class PointT >

constexpr size_t approximate_intersection::LookupGrid< PointT >::PLACE_HOLDER_CAPACITY = 1

staticconstexprprotected

Static placeholder value for the Autoware.Auto Hasher in use which requires this value but does not utilize it.

Definition at line 54 of file lookup_grid.hpp.

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

approximate_intersection/include/approximate_intersection/lookup_grid.hpp

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Hasher

◆ HashIndex

Constructor & Destructor Documentation

◆ LookupGrid() [1/2]

◆ LookupGrid() [2/2]

Member Function Documentation

◆ get_config()

◆ insert()

◆ intersects()

Member Data Documentation

◆ config_

◆ hasher_

◆ occupied_cells_

◆ PLACE_HOLDER_CAPACITY