n-dimensional grid structure with uniform non-cubic cells This data structure is useful to search for neighbors in a given range (the size of each cell) More...
#include <Grid.h>
Inheritance diagram for SurgSim::DataStructures::Grid< T, N >:
Classes | |
| struct | CellContent |
| Data structure for a cell's content (the list of elements and the list of all the neighbors) More... | |
| class | NDIdHash |
| Enable the NDId to be used as a key in an unordered map. More... | |
Public Member Functions | |
| Grid (const Eigen::Matrix< double, N, 1 > &cellSize, const Eigen::AlignedBox< double, N > &bounds) | |
| Constructor. More... | |
| virtual | ~Grid () |
| Destructor. | |
| void | reset () |
| Reset the grid content and the neighbors' mapping. | |
| template<class Derived > | |
| void | addElement (const T element, const Eigen::MatrixBase< Derived > &position) |
| Add an element in the grid. More... | |
| const std::vector< T > & | getNeighbors (const T &element) |
| Retrieve an elements' neighbors. More... | |
| template<class Derived > | |
| const std::vector< T > & | getNeighbors (const Eigen::MatrixBase< Derived > &position) |
| Retrieve the neighbors of a location. More... | |
Protected Types | |
| typedef Eigen::Matrix< int, N, 1 > | NDId |
| The type of the n-dimensional cell Id. | |
Protected Attributes | |
| std::unordered_map< NDId, CellContent, NDIdHash > | m_activeCells |
| Active cells (referenced by their ids (spatial hashing)) with their content. | |
| std::unordered_map< T, NDId > | m_cellIds |
| Mapping from element to cell id containing the element. | |
| Eigen::Matrix< double, N, 1 > | m_size |
| Size of each cell (same on all dimension) | |
| Eigen::AlignedBox< double, N > | m_aabb |
| Grid min and max. | |
| bool | m_neighborsDirtyFlag |
| Does the neighbors needs to be recomputed ? | |
Detailed Description
template<typename T, size_t N>
class SurgSim::DataStructures::Grid< T, N >
n-dimensional grid structure with uniform non-cubic cells This data structure is useful to search for neighbors in a given range (the size of each cell)
- Template Parameters
-
T Element type to be stored N The dimension of the grid (i.e. 2 => 2D, 3 => 3D)
Constructor & Destructor Documentation
§ Grid()
template<typename T , size_t N>
| SurgSim::DataStructures::Grid< T, N >::Grid | ( | const Eigen::Matrix< double, N, 1 > & | cellSize, |
| const Eigen::AlignedBox< double, N > & | bounds | ||
| ) |
Constructor.
- Parameters
-
cellSize The size of each cell in dimension N (i.e. cells are not necessarily cubic). bounds The dimension-N boundaries of the space covered by the grid.
Member Function Documentation
§ addElement()
template<typename T , size_t N>
template<class Derived >
| void SurgSim::DataStructures::Grid< T, N >::addElement | ( | const T | element, |
| const Eigen::MatrixBase< Derived > & | position | ||
| ) |
Add an element in the grid.
- Parameters
-
element to be added at this position position of the element in the n-D space
- Note
- If the position is outside of the grid, the element is simply not added to the grid
Flag that the neighbors list will need to be recomputed on the next access
§ getNeighbors() [1/2]
template<typename T , size_t N>
| const std::vector< T > & SurgSim::DataStructures::Grid< T, N >::getNeighbors | ( | const T & | element | ) |
Retrieve an elements' neighbors.
- Parameters
-
element The element for which the neighbors are requested
- Returns
- The element's neighbors list (including the element itself)
§ getNeighbors() [2/2]
template<typename T , size_t N>
template<class Derived >
| const std::vector< T > & SurgSim::DataStructures::Grid< T, N >::getNeighbors | ( | const Eigen::MatrixBase< Derived > & | position | ) |
Retrieve the neighbors of a location.
- Parameters
-
position The position for which the neighbors are requested
- Returns
- The neighbors for this position, i.e. all the elements in the positions cell and all surrounding cells
The documentation for this class was generated from the following files:
- SurgSim/DataStructures/Grid.h
- SurgSim/DataStructures/Grid-inl.h
