apollo::localization::ndt::Leaf Struct Reference

Simple structure to hold a centroid, covarince and the number of points in a leaf. More...

#include <ndt_voxel_grid_covariance.h>

Collaboration diagram for apollo::localization::ndt::Leaf:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Leaf ()
int	GetPointCount () const
	Get the number of points contained by this voxel. More...
Eigen::Vector3d	GetMean () const
	Get the voxel centroid. More...
Eigen::Matrix3d	GetInverseCov () const
	Get the inverse of the voxel covariance. More...

Public Attributes
int	nr_points_
	Number of points contained by voxel. More...
Eigen::Vector3d	mean_
	3D voxel centroid. More...
Eigen::Matrix3d	icov_
	Inverse of voxel covariance matrix. More...

Detailed Description

Simple structure to hold a centroid, covarince and the number of points in a leaf.

Constructor & Destructor Documentation

Leaf()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW apollo::localization::ndt::Leaf::Leaf ( )

inline

Member Function Documentation

GetInverseCov()

Eigen::Matrix3d apollo::localization::ndt::Leaf::GetInverseCov ( ) const

inline

Get the inverse of the voxel covariance.

GetMean()

Eigen::Vector3d apollo::localization::ndt::Leaf::GetMean ( ) const

inline

Get the voxel centroid.

GetPointCount()

int apollo::localization::ndt::Leaf::GetPointCount ( ) const

inline

Get the number of points contained by this voxel.

Member Data Documentation

icov_

Eigen::Matrix3d apollo::localization::ndt::Leaf::icov_

Inverse of voxel covariance matrix.

mean_

Eigen::Vector3d apollo::localization::ndt::Leaf::mean_

3D voxel centroid.

nr_points_

int apollo::localization::ndt::Leaf::nr_points_

Number of points contained by voxel.

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

• modules/localization/ndt/ndt_locator/ndt_voxel_grid_covariance.h