PUBLIC

VoxelSetC::VoxelSetC(void) VoxelSetC::VoxelSetC(BinIStreamC &) VoxelSetC::VoxelSetC(const Matrix3dC &,const Vector3dC &,RealT,UIntT,ByteT) VoxelSetC::voxelSize(void) const VoxelSetC::R(void) const VoxelSetC::t(void) const VoxelSetC::Fill(ByteT) VoxelSetC::IsOccupied(const Vector3dC &) VoxelSetC::GetVoxelCheck(ByteT &,const Vector3dC &) const VoxelSetC::GetVoxelPointerCheck(ByteT *&,const Vector3dC &) VoxelSetC::Array(void) const VoxelSetC::Array(void) VoxelSetC::VoxelIndex(const Vector3dC &) const VoxelSetC::OccupiedThreshold(void) VoxelSetC::OccupiedThreshold(void) const VoxelSetC::VoxelSetC(VoxelSetBodyC &) RCHandleC::operator =(const RCHandleC &) RCHandleC::DeepCopy(UIntT) const RCHandleC::operator ==(const RCHandleC &) const RCHandleC::operator !=(const RCHandleC &) const RCHandleC::Hash(void) const RCHandleC::IsValid(void) const RCHandleC::Invalidate(void) RCHandleC::IsHandleType(const DT &) const RCHandleC::CheckHandleType(const DT &) const RCHandleC::Body(void) RCHandleC::Body(void) const RCHandleC::References(void) const RCHandleC::operator <<(ostream &,const RCHandleC &) RCHandleC::operator >>(istream &,RCHandleC &)

The voxel set has a coordinate system with xyz corresponding to index 0,1,2. The origin of the coordinate system is at the centre of the voxel with index (0,0,0)

Voxel subsets created with ContiguousPortion(...) have the same world to voxel set transformation but different ranges of indices

public RCHandleC<VoxelSetBodyC>

VoxelSetC()

Default constructor

VoxelSetC(BinIStreamC & is)

Stream constructor

VoxelSetC(const Matrix3dC & R,const Vector3dC & t,RealT voxel_size,UIntT cube_side_num_voxels,ByteT occupied_threshold = 1)

Construct a cube of voxels
R*x + t transforms a 3D point x from world co-ordinates to voxel co-ordinates

voxel_size is the length of each side of a single voxel

Units of voxel_size must match those of t

cube_side_num_voxels is the number of voxels along each side of the cube

RealT voxelSize() const

Length of a side of a single voxel

const Matrix3dC & R() const

Orientation
R*x + t transforms a 3D point x from world co-ordinates to voxel co-ordinates

const Vector3dC & t() const

Position
R*x + t transforms a 3D point x from world co-ordinates to voxel co-ordinates

void Fill(ByteT v)

Set all voxel attributes equal to v

bool IsOccupied(const Vector3dC & x)

Checks the specified location against the occupied threshold.
Returns true if the voxel is occupied, false if unoccupied or if x is not in the voxel set.

bool GetVoxelCheck(ByteT & v,const Vector3dC & x) const

Get the current attributes of voxel at location x
returns true if x is inside the voxel array, 0 otherwise

bool GetVoxelPointerCheck(ByteT *& v,const Vector3dC & x)

Get a pointer to voxel attributes at location x
returns true if x is inside the voxel array, 0 otherwise

const Array3dC<ByteT> & Array() const

Direct access to voxel attributes(const)

Array3dC<ByteT> & Array()

Direct access to voxel attributes

Index3dC VoxelIndex(const Vector3dC & x) const

Index of voxel corresponding to point x in space
Can be used to index Array() directly, but GetVoxelCheck does this for you

ByteT & OccupiedThreshold()

A voxel is said to be occupied if it has an attributes >= OccupiedThreshold

const ByteT & OccupiedThreshold() const

A voxel is said to be occupied if it has an attributes >= OccupiedThreshold

VoxelSetC(VoxelSetBodyC & body)

const RCHandleC<VoxelSetBodyC> & operator =(const RCHandleC<VoxelSetBodyC> & oth)

Assign handle.

RCHandleC<VoxelSetBodyC> DeepCopy(UIntT levels = ((UIntT))) const

Do a deep copy of the object.

bool operator ==(const RCHandleC<VoxelSetBodyC> & oth) const

Are handles to the same object ?

bool operator !=(const RCHandleC<VoxelSetBodyC> & oth) const

Are handles to different objects ?

UIntT Hash() const

Default hash function.
This hashes on the address of the body.

bool IsValid() const

Test if this is a valid handle.

void Invalidate()

Invalidate this handle.
Unattaches the body from the handle.

bool IsHandleType(const DT &) const

Is handle of given type ?

void CheckHandleType(const DT & dummy) const

Check handle type. Throw an expception if not.

VoxelSetBodyC & Body()

Access body of object.

const VoxelSetBodyC & Body() const

Constant access to body of object.

UIntT References() const

Find the number of references to the body of this object.

ostream & operator <<(ostream & strm,const RCHandleC<VoxelSetBodyC> & obj)

istream & operator >>(istream & strm,RCHandleC<VoxelSetBodyC> & obj)