apollo::common::math::AABoxKDTree2dNode< ObjectType > 模板类 参考

The class of KD-tree node of axis-aligned bounding box. 更多...

#include <aaboxkdtree2d.h>

apollo::common::math::AABoxKDTree2dNode< ObjectType > 的协作图:

Public 类型
using	ObjectPtr = const ObjectType *

Public 成员函数
	AABoxKDTree2dNode (const std::vector< ObjectPtr > &objects, const AABoxKDTreeParams &params, int depth)
	Constructor which takes a vector of objects, parameters and depth of the node.
ObjectPtr	GetNearestObject (const Vec2d &point) const
	Get the nearest object to a target point by the KD-tree rooted at this node.
std::vector< ObjectPtr >	GetObjects (const Vec2d &point, const double distance) const
	Get objects within a distance to a point by the KD-tree rooted at this node.
AABox2d	GetBoundingBox () const
	Get the axis-aligned bounding box of the objects.

详细描述

template<class ObjectType>
class apollo::common::math::AABoxKDTree2dNode< ObjectType >

The class of KD-tree node of axis-aligned bounding box.

在文件 aaboxkdtree2d.h 第 60 行定义.

成员类型定义说明

ObjectPtr

template<class ObjectType >

using apollo::common::math::AABoxKDTree2dNode< ObjectType >::ObjectPtr = const ObjectType *

在文件 aaboxkdtree2d.h 第 62 行定义.

构造及析构函数说明

AABoxKDTree2dNode()

template<class ObjectType >

apollo::common::math::AABoxKDTree2dNode< ObjectType >::AABoxKDTree2dNode ( const std::vector< ObjectPtr > &  objects, const AABoxKDTreeParams &  params, int  depth  )

inline

Constructor which takes a vector of objects, parameters and depth of the node.

参数

objects	Objects to build the KD-tree node.
params	Parameters to build the KD-tree.
depth	Depth of the KD-tree node.

在文件 aaboxkdtree2d.h 第 70 行定义.

      : depth_(depth) {
    ACHECK(!objects.empty());
 
    ComputeBoundary(objects);
    ComputePartition();
 
    if (SplitToSubNodes(objects, params)) {
      std::vector<ObjectPtr> left_subnode_objects;
      std::vector<ObjectPtr> right_subnode_objects;
      PartitionObjects(objects, &left_subnode_objects, &right_subnode_objects);
 
      // Split to sub-nodes.
      if (!left_subnode_objects.empty()) {
        left_subnode_.reset(new AABoxKDTree2dNode<ObjectType>(
            left_subnode_objects, params, depth + 1));
      }
      if (!right_subnode_objects.empty()) {
        right_subnode_.reset(new AABoxKDTree2dNode<ObjectType>(
            right_subnode_objects, params, depth + 1));
      }
    } else {
      InitObjects(objects);
    }
  }

成员函数说明

GetBoundingBox()

template<class ObjectType >

AABox2d apollo::common::math::AABoxKDTree2dNode< ObjectType >::GetBoundingBox ( ) const

inline

Get the axis-aligned bounding box of the objects.

返回

The axis-aligned bounding box of the objects.

在文件 aaboxkdtree2d.h 第 128 行定义.

                                 {
    return AABox2d({min_x_, min_y_}, {max_x_, max_y_});
  }

GetNearestObject()

template<class ObjectType >

ObjectPtr apollo::common::math::AABoxKDTree2dNode< ObjectType >::GetNearestObject ( const Vec2d &  point ) const

inline

Get the nearest object to a target point by the KD-tree rooted at this node.

参数

point

The target point. Search it's nearest object.

返回

The nearest object to the target point.

在文件 aaboxkdtree2d.h 第 103 行定义.

                                                       {
    ObjectPtr nearest_object = nullptr;
    double min_distance_sqr = std::numeric_limits<double>::infinity();
    GetNearestObjectInternal(point, &min_distance_sqr, &nearest_object);
    return nearest_object;
  }

GetObjects()

template<class ObjectType >

std::vector< ObjectPtr > apollo::common::math::AABoxKDTree2dNode< ObjectType >::GetObjects ( const Vec2d &  point, const double  distance  ) const

inline

Get objects within a distance to a point by the KD-tree rooted at this node.

参数

point	The center point of the range to search objects.
distance	The radius of the range to search objects.

返回

All objects within the specified distance to the specified point.

在文件 aaboxkdtree2d.h 第 117 行定义.

                                                                 {
    std::vector<ObjectPtr> result_objects;
    GetObjectsInternal(point, distance, Square(distance), &result_objects);
    return result_objects;
  }

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该类的文档由以下文件生成:

• modules/common/math/aaboxkdtree2d.h