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Public Member Functions | Data Fields
CollisionDetection::AngularBins Struct Reference

Angular bin structure for rasterization-based collision detection. More...

#include <CollisionDetection.h>

Public Member Functions

 AngularBins (int theta_div, int phi_div)
 
bool isCovered (int theta, int phi) const
 
void setCovered (int theta, int phi, float depth)
 
void clear ()
 

Data Fields

int theta_divisions
 Number of azimuthal divisions (around cone axis)
 
int phi_divisions
 Number of polar divisions (from apex to cone edge)
 
float angular_resolution
 Steradians per bin.
 
std::vector< uint8_t > coverage_bits
 Packed coverage bits [theta][phi].
 
std::vector< float > depth_values
 Depth values for covered bins only.
 

Detailed Description

Angular bin structure for rasterization-based collision detection.

Definition at line 51 of file CollisionDetection.h.

Constructor & Destructor Documentation

◆ AngularBins()

CollisionDetection::AngularBins::AngularBins ( int  theta_div,
int  phi_div 
)
inline

Definition at line 60 of file CollisionDetection.h.

Member Function Documentation

◆ clear()

void CollisionDetection::AngularBins::clear ( )
inline

Definition at line 79 of file CollisionDetection.h.

◆ isCovered()

bool CollisionDetection::AngularBins::isCovered ( int  theta,
int  phi 
) const
inline

Definition at line 68 of file CollisionDetection.h.

◆ setCovered()

void CollisionDetection::AngularBins::setCovered ( int  theta,
int  phi,
float  depth 
)
inline

Definition at line 73 of file CollisionDetection.h.

Field Documentation

◆ angular_resolution

float CollisionDetection::AngularBins::angular_resolution

Steradians per bin.

Definition at line 54 of file CollisionDetection.h.

◆ coverage_bits

std::vector<uint8_t> CollisionDetection::AngularBins::coverage_bits

Packed coverage bits [theta][phi].

Definition at line 57 of file CollisionDetection.h.

◆ depth_values

std::vector<float> CollisionDetection::AngularBins::depth_values

Depth values for covered bins only.

Definition at line 58 of file CollisionDetection.h.

◆ phi_divisions

int CollisionDetection::AngularBins::phi_divisions

Number of polar divisions (from apex to cone edge)

Definition at line 53 of file CollisionDetection.h.

◆ theta_divisions

int CollisionDetection::AngularBins::theta_divisions

Number of azimuthal divisions (around cone axis)

Definition at line 52 of file CollisionDetection.h.

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