Struct OccupancyGrid 

pub struct OccupancyGrid {
    pub dims: [usize; 3],
    pub origin: [f32; 3],
    pub voxel_size: f32,
    pub data: Vec<f32>,
}

A dense 3D grid in row-major (z, y, x) order.

Fields

dims: [usize; 3]

Grid dimensions (nx, ny, nz).

origin: [f32; 3]

Lower corner of voxel (0, 0, 0).

voxel_size: f32

Voxel side length.

data: Vec<f32>

Values, indexed z * (ny * nx) + y * nx + x.

Implementations

impl OccupancyGrid

pub fn len(&self) -> usize

Total number of voxels (nx * ny * nz).

pub fn is_empty(&self) -> bool

Whether the grid has no voxels.

pub fn occupied_count(&self) -> usize

Number of voxels with a non-zero value.

pub fn get(&self, x: usize, y: usize, z: usize) -> Option<f32>

Value at voxel (x, y, z), or None if out of range.

Trait Implementations

impl Clone for OccupancyGrid

fn clone(&self) -> OccupancyGrid

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for OccupancyGrid

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl PartialEq for OccupancyGrid

fn eq(&self, other: &OccupancyGrid) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for OccupancyGrid