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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_1e32283d4ab39246fee9af89412835e8.html">points</a></li> </ul>
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<div class="title">traits.hpp</div> </div>
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<a href="points_2traits_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keyword">namespace </span>traits {</div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">struct </span>Traits;</div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac"> 16</a></span> <span class="keywordtype">size_t</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">size</a>(<span class="keyword">const</span> T& points) {</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">Traits<T>::size</a>(points);</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> }</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#aac7ffb71ca098a53f2fd224aa95ec3df"> 22</a></span> <span class="keywordtype">bool</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#aac7ffb71ca098a53f2fd224aa95ec3df">has_points</a>(<span class="keyword">const</span> T& points) {</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#aac7ffb71ca098a53f2fd224aa95ec3df">Traits<T>::has_points</a>(points);</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> }</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#ac0ebf8744cd82ff4fdac8faefcb79105"> 28</a></span> <span class="keywordtype">bool</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ac0ebf8744cd82ff4fdac8faefcb79105">has_normals</a>(<span class="keyword">const</span> T& points) {</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ac0ebf8744cd82ff4fdac8faefcb79105">Traits<T>::has_normals</a>(points);</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> }</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a7f45929c9e5a0e03b31b42b065c07a50"> 34</a></span> <span class="keywordtype">bool</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a7f45929c9e5a0e03b31b42b065c07a50">has_covs</a>(<span class="keyword">const</span> T& points) {</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a7f45929c9e5a0e03b31b42b065c07a50">Traits<T>::has_covs</a>(points);</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> }</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1"> 40</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">point</a>(<span class="keyword">const</span> T& points, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">Traits<T>::point</a>(points, i);</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> }</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863"> 46</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">normal</a>(<span class="keyword">const</span> T& points, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">Traits<T>::normal</a>(points, i);</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7"> 52</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>(<span class="keyword">const</span> T& points, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">Traits<T>::cov</a>(points, i);</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> }</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#ae35e34068062341652ed9dbf7c3eba25"> 58</a></span> <span class="keywordtype">void</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ae35e34068062341652ed9dbf7c3eba25">resize</a>(T& points, <span class="keywordtype">size_t</span> n) {</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#ae35e34068062341652ed9dbf7c3eba25">Traits<T>::resize</a>(points, n);</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> }</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#ad663f28d1c31b400619cf2c87cf7725a"> 64</a></span> <span class="keywordtype">void</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ad663f28d1c31b400619cf2c87cf7725a">set_point</a>(T& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Vector4d& pt) {</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#ad663f28d1c31b400619cf2c87cf7725a">Traits<T>::set_point</a>(points, i, pt);</div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> }</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a5647854e2c446d240366fca679aa8f38"> 70</a></span> <span class="keywordtype">void</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a5647854e2c446d240366fca679aa8f38">set_normal</a>(T& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Vector4d& pt) {</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#a5647854e2c446d240366fca679aa8f38">Traits<T>::set_normal</a>(points, i, pt);</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
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<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a3e3d8420d93214163aec5cfea1ff6016"> 76</a></span> <span class="keywordtype">void</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a3e3d8420d93214163aec5cfea1ff6016">set_cov</a>(T& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>) {</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#a3e3d8420d93214163aec5cfea1ff6016">Traits<T>::set_cov</a>(points, i, <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>);</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> }</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> } <span class="comment">// namespace traits</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a3c4ae38ff52330d6e624f4971c291fac"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">small_gicp::traits::size</a></div><div class="ttdeci">size_t size(const T &points)</div><div class="ttdoc">Get the number of points.</div><div class="ttdef"><b>Definition:</b> traits.hpp:16</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a3e3d8420d93214163aec5cfea1ff6016"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a3e3d8420d93214163aec5cfea1ff6016">small_gicp::traits::set_cov</a></div><div class="ttdeci">void set_cov(T &points, size_t i, const Eigen::Matrix4d &cov)</div><div class="ttdoc">Set i-th covariance. Only the top-left 3x3 matrix should be filled.</div><div class="ttdef"><b>Definition:</b> traits.hpp:76</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a5647854e2c446d240366fca679aa8f38"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a5647854e2c446d240366fca679aa8f38">small_gicp::traits::set_normal</a></div><div class="ttdeci">void set_normal(T &points, size_t i, const Eigen::Vector4d &pt)</div><div class="ttdoc">Set i-th normal. (nx, nz, nz, 0)</div><div class="ttdef"><b>Definition:</b> traits.hpp:70</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a66b660d3a0c2e81cdf06abc8efebdad1"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">small_gicp::traits::point</a></div><div class="ttdeci">auto point(const T &points, size_t i)</div><div class="ttdoc">Get i-th point. 4D vector is used to take advantage of SIMD intrinsics. The last element must be fill...</div><div class="ttdef"><b>Definition:</b> traits.hpp:40</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a7f45929c9e5a0e03b31b42b065c07a50"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a7f45929c9e5a0e03b31b42b065c07a50">small_gicp::traits::has_covs</a></div><div class="ttdeci">bool has_covs(const T &points)</div><div class="ttdoc">Check if the point cloud has covariances.</div><div class="ttdef"><b>Definition:</b> traits.hpp:34</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_aac7ffb71ca098a53f2fd224aa95ec3df"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#aac7ffb71ca098a53f2fd224aa95ec3df">small_gicp::traits::has_points</a></div><div class="ttdeci">bool has_points(const T &points)</div><div class="ttdoc">Check if the point cloud has points.</div><div class="ttdef"><b>Definition:</b> traits.hpp:22</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ac0ebf8744cd82ff4fdac8faefcb79105"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ac0ebf8744cd82ff4fdac8faefcb79105">small_gicp::traits::has_normals</a></div><div class="ttdeci">bool has_normals(const T &points)</div><div class="ttdoc">Check if the point cloud has normals.</div><div class="ttdef"><b>Definition:</b> traits.hpp:28</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ac9146681bcef16a4c73d3fd05ad295c7"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">small_gicp::traits::cov</a></div><div class="ttdeci">auto cov(const T &points, size_t i)</div><div class="ttdoc">Get i-th covariance. Only the top-left 3x3 matrix is filled, and the bottom row and the right col mus...</div><div class="ttdef"><b>Definition:</b> traits.hpp:52</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ad162655a1c08776aa4c94c2fa1ebf863"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">small_gicp::traits::normal</a></div><div class="ttdeci">auto normal(const T &points, size_t i)</div><div class="ttdoc">Get i-th normal. 4D vector is used to take advantage of SIMD intrinsics. The last element must be fil...</div><div class="ttdef"><b>Definition:</b> traits.hpp:46</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ad663f28d1c31b400619cf2c87cf7725a"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ad663f28d1c31b400619cf2c87cf7725a">small_gicp::traits::set_point</a></div><div class="ttdeci">void set_point(T &points, size_t i, const Eigen::Vector4d &pt)</div><div class="ttdoc">Set i-th point. (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> traits.hpp:64</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ae35e34068062341652ed9dbf7c3eba25"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ae35e34068062341652ed9dbf7c3eba25">small_gicp::traits::resize</a></div><div class="ttdeci">void resize(T &points, size_t n)</div><div class="ttdoc">Resize the point cloud (this function should resize all attributes)</div><div class="ttdef"><b>Definition:</b> traits.hpp:58</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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