Template Function voxblox::getGridIndexFromOriginPoint¶
- Defined in File common.h
Function Documentation¶
-
template <typename IndexType>
IndexTypevoxblox
::
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
getGridIndexFromPoint
for arbitrary points near the border of the grid cell.