pillar_grid.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <array>
#include <vector>
 
namespace pcod_common {
 
struct PillarGrid {
  int grid_x = 0;              
  int grid_y = 0;              
  float x_min = 0.0f;          
  float x_max = 0.0f;          
  float y_min = 0.0f;          
  float y_max = 0.0f;          
  float z_min = 0.0f;          
  float z_max = 0.0f;          
  std::vector<float> centers;  
 
  const float* center_at(int idx) const { return centers.data() + static_cast<std::size_t>(idx) * 3; }
};
 
PillarGrid BuildPillarGrid(const std::array<int, 2>& pillar_map_size,
                           const std::array<std::array<float, 2>, 3>& pillar_map_range,
                           int first_up_stride,
                           int stride);
 
}  // namespace pcod_common