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| // Copyright 2023 Ekumen, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef BELUGA_SENSOR_DATA_DENSE_GRID_HPP | ||
| #define BELUGA_SENSOR_DATA_DENSE_GRID_HPP | ||
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| #include <optional> | ||
| #include <vector> | ||
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| #include <beluga/sensor/data/regular_grid.hpp> | ||
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| #include <Eigen/Core> | ||
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| /** | ||
| * \file | ||
| * \brief Concepts and abstract implementations of dense grids. | ||
| */ | ||
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| namespace beluga { | ||
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| /** | ||
| * \page DenseGrid2Page Beluga named requirements: DenseGrid2 | ||
| * | ||
| * Dense grids support random, indexed access to each cell. These | ||
| * grids have a finite extent and thus can hold cell data in finite | ||
| * memory. Dense grids are regular grids, meaning they satisfy | ||
| * \ref RegularGrid2Page requirements. | ||
| * | ||
| * A type `G` satisfies `DenseGrid2` requirements if it satisfies | ||
| * \ref RegularGrid2Page and given `g` a possibly const instance of `G`: | ||
| * - `g.width()` returns the grid width, in grid cells along the grid | ||
| * x-axis, as an `std::size_t` value. | ||
| * - `g.height()` returns the grid height, in grid cells along the grid | ||
| * y-axis, as an `std::size_t` value. | ||
| * - given possibly const grid cell coordinates `xi` and `yi` of type `int`, | ||
| * `g.contains(xi, yi)` checks whether such cell is included in the grid; | ||
| * - given possibly const grid cell coordinates `pi` of `Eigen::Vector2i` type, | ||
| * `g.contains(p)` checks whether such cell is included in the grid; | ||
| * - given possibly const grid cell coordinates `xi` and `yi` of type `int`, | ||
| * `g.index_at(xi, yi)` retrieves the corresponding cell index of some type; | ||
| * - given possibly const grid cell coordinates `pi` of `Eigen::Vector2i` type, | ||
| * `g.index_at(pi)` retrieves the corresponding cell index of some type; | ||
| * - given possibly const grid cell coordinates `xi` and `yi` of type `int`, | ||
| * `g.data_at(xi, yi)` optionally returns cell data, if cell is included; | ||
| * - given possibly const grid cell coordinates `pi` of `Eigen::Vector2i` type, | ||
| * `g.data_at(p)` optionally returns cell data, if cell is included; | ||
| * - given possibly const grid cell index `i` of some type, `g.data_at(i)` | ||
| * optionally returns cell data, if cell is included; | ||
| * - given possibly const embedding space coordinates `x` and `y` of type `double`, | ||
| * `g.data_near(x, y)` optionally returns cell data, if cell is included; | ||
| * - given possibly const embedding space coordinates `p` of `Eigen::Vector2d` type, | ||
| * `g.data_near(p)` optionally returns cell data, if cell is included; | ||
| * - given possibly const grid cell coordinates `xi` and `yi` of type `int`, | ||
| * `g.neighborhood4(xi, yi)` computes the cell 4-connected neighborhood as | ||
| * a range of `Eigen::Vector2i` type; | ||
| * - given possibly const grid cell coordinates `pi` of `Eigen::Vector2i` type, | ||
| * `g.neighborhood4(p)` computes the cell 4-connected neighborhood as a | ||
| * range of `Eigen::Vector2i` type. | ||
| */ | ||
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| /// Dense 2D grid base type. | ||
| /** | ||
| * When instantiated, it satisfies \ref DenseGrid2Page. | ||
| * | ||
| * \tparam Derived Concrete dense grid type. It must define | ||
| * `Derived::width()`, `Derived::height()`, `Derived::resolution()`, | ||
| * `Derived::data_at(index)`, and `Derived::index_at(int, int)` | ||
| * as described in \ref DenseGrid2Page. | ||
| */ | ||
| template <typename Derived> | ||
| class BaseDenseGrid2 : public BaseRegularGrid2<Derived> { | ||
| public: | ||
| /// Checks if a cell is included in the grid. | ||
| /** | ||
| * \param xi Grid cell x-axis coordinate. | ||
| * \param yi Grid cell y-axis coordinate. | ||
| */ | ||
| [[nodiscard]] bool contains(int xi, int yi) const { | ||
| return xi >= 0 && xi < static_cast<int>(this->self().width()) && yi >= 0 && | ||
| yi < static_cast<int>(this->self().height()); | ||
| } | ||
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| /// Checks if a cell is included in the grid. | ||
| /** | ||
| * \param pi Grid cell coordinates. | ||
| */ | ||
| [[nodiscard]] bool contains(const Eigen::Vector2i& pi) const { return this->self().contains(pi.x(), pi.y()); } | ||
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| /// Gets cell data, if included. | ||
| /** | ||
| * \param xi Grid cell x-axis coordinate. | ||
| * \param yi Grid cell y-axis coordinate. | ||
| * \return Cell data if included, `std::nullopt` otherwise. | ||
| */ | ||
| [[nodiscard]] auto data_at(int xi, int yi) const { | ||
| return this->self().contains(xi, yi) ? this->self().data_at(this->self().index_at(xi, yi)) : std::nullopt; | ||
| } | ||
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| /// Gets cell data, if included. | ||
| /** | ||
| * \param pi Grid cell coordinates. | ||
| * \return Cell data if included, `std::nullopt` otherwise. | ||
| */ | ||
| [[nodiscard]] auto data_at(const Eigen::Vector2i& pi) const { return this->self().data_at(pi.x(), pi.y()); } | ||
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| /// Gets nearest cell data, if included. | ||
| /** | ||
| * \param x Plane x-axis coordinate. | ||
| * \param y Plane y-axis coordinate. | ||
| * \return Cell data if included, `std::nullopt` otherwise. | ||
| */ | ||
| [[nodiscard]] auto data_near(double x, double y) const { return this->self().data_at(this->self().cell_near(x, y)); } | ||
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| /// Gets nearest cell data, if included. | ||
| /** | ||
| * \param p Plane coordinates. | ||
| * \return Cell data if included, `std::nullopt` otherwise. | ||
| */ | ||
| [[nodiscard]] auto data_near(const Eigen::Vector2d& p) const { return this->self().data_near(p.x(), p.y()); } | ||
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| /// Computes 4-connected neighborhood for cell. | ||
| /** | ||
| * \param xi Grid cell x-axis coordinate. | ||
| * \param yi Grid cell y-axis coordinate. | ||
| * \return range of neighbor cells. | ||
| */ | ||
| [[nodiscard]] auto neighborhood4(int xi, int yi) const { | ||
| auto result = std::vector<Eigen::Vector2i>{}; | ||
| if (xi < static_cast<int>(this->self().width() - 1)) { | ||
| result.emplace_back(xi + 1, yi); | ||
| } | ||
| if (yi < static_cast<int>(this->self().height() - 1)) { | ||
| result.emplace_back(xi, yi + 1); | ||
| } | ||
| if (xi > 0) { | ||
| result.emplace_back(xi - 1, yi); | ||
| } | ||
| if (yi > 0) { | ||
| result.emplace_back(xi, yi - 1); | ||
| } | ||
| return result; | ||
| } | ||
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| /// Computes 4-connected neighborhood for cell. | ||
| /** | ||
| * \param pi Grid cell coordinates. | ||
| * \return range of neighbor cells. | ||
| */ | ||
| [[nodiscard]] auto neighborhood4(const Eigen::Vector2i& pi) const { | ||
| return this->self().neighborhood4(pi.x(), pi.y()); | ||
| } | ||
| }; | ||
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| } // namespace beluga | ||
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| #endif |
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