Template Function voxblox::getGridIndexFromOriginPoint

Function Documentation

template <typename IndexType>
IndexType voxblox::getGridIndexFromOriginPoint(const Point &point, const FloatingPoint grid_size_inv)

NOTE: This function is safer than getGridIndexFromPoint, because it assumes we pass in not an arbitrary point in the grid cell, but the ORIGIN.

This way we can avoid the floating point precision issue that arrises for calls to getGridIndexFromPointfor arbitrary points near the border of the grid cell.