Method input

swarm_exploration/plan_env/src/raycast.cpp:329–372

}

bool RayCaster::input(const Eigen::Vector3d& start, const Eigen::Vector3d& end) {
  start_ = start / resolution_;
  end_ = end / resolution_;

  x_ = (int)std::floor(start_.x());
  y_ = (int)std::floor(start_.y());
  z_ = (int)std::floor(start_.z());
  endX_ = (int)std::floor(end_.x());
  endY_ = (int)std::floor(end_.y());
  endZ_ = (int)std::floor(end_.z());
  direction_ = (end_ - start_);
  maxDist_ = direction_.squaredNorm();

  // Break out direction vector.
  dx_ = endX_ - x_;
  dy_ = endY_ - y_;
  dz_ = endZ_ - z_;

  // Direction to increment x,y,z when stepping.
  stepX_ = (int)signum((int)dx_);
  stepY_ = (int)signum((int)dy_);
  stepZ_ = (int)signum((int)dz_);

  // See description above. The initial values depend on the fractional
  // part of the origin.
  tMaxX_ = intbound(start_.x(), dx_);
  tMaxY_ = intbound(start_.y(), dy_);
  tMaxZ_ = intbound(start_.z(), dz_);

  // The change in t when taking a step (always positive).
  tDeltaX_ = ((double)stepX_) / dx_;
  tDeltaY_ = ((double)stepY_) / dy_;
  tDeltaZ_ = ((double)stepZ_) / dz_;

  dist_ = 0;

  step_num_ = 0;

  // Avoids an infinite loop.
  if (stepX_ == 0 && stepY_ == 0 && stepZ_ == 0)
    return false;
  else
    return true;
}

bool RayCaster::nextId(Eigen::Vector3i& idx) {
  auto tmp = Eigen::Vector3d(x_, y_, z_);