Constructor OccupancyGrid
| Edit this page View SourceOccupancyGrid(Vector3, BBox)
Initializes an occupancy grid covering the specified bounds.
Declaration
public OccupancyGrid(Vector3 voxelSize, BBox bounds)Parameters
| Type | Name | Description |
|---|---|---|
| Vector3 | voxelSize | voxel size (must be positive in all dimensions) |
| BBox | bounds | world-space axis-aligned bounding box |
Exceptions
| Type | Condition |
|---|---|
| ArgumentException | Thrown if voxel size is not positive or if grid dimensions are invalid. |
OccupancyGrid(Vector3, BBox, int)
Initializes an occupancy grid covering the specified bounds, with padding.
Declaration
public OccupancyGrid(Vector3 voxelSize, BBox bounds, int paddingVoxels)Parameters
| Type | Name | Description |
|---|---|---|
| Vector3 | voxelSize | voxel size (must be positive in all dimensions) |
| BBox | bounds | world-space axis-aligned bounding box |
| int | paddingVoxels | number of empty voxels to pad around the bounds |
OccupancyGrid(GridMeta, Occupancy[])
Initializes an occupancy grid from an existing flat array.
Declaration
public OccupancyGrid(GridMeta meta, Occupancy[] occupancies)Parameters
| Type | Name | Description |
|---|---|---|
| GridMeta | meta | grid metadata (voxel size must be positive) |
| Occupancy[] | occupancies | flat array of occupancies (length must be NxNyNz) |
Exceptions
| Type | Condition |
|---|---|
| ArgumentException | if occupancies length does not match grid size |
OccupancyGrid(GridMeta)
Initializes an empty occupancy grid with given metadata.
Declaration
public OccupancyGrid(GridMeta meta)Parameters
| Type | Name | Description |
|---|---|---|
| GridMeta | meta | Grid metadata (voxel size must be positive) |
Exceptions
| Type | Condition |
|---|---|
| ArgumentException | Thrown if voxel size is not positive or if grid dimensions are invalid. |
OccupancyGrid(Occupancy[], Vector3[], GridMeta)
Initializes an occupancy grid from parallel occupancy and position arrays.
Declaration
public OccupancyGrid(Occupancy[] occupancies, Vector3[] positions, GridMeta meta)Parameters
| Type | Name | Description |
|---|---|---|
| Occupancy[] | occupancies | occupancy values |
| Vector3[] | positions | world-space positions corresponding to each occupancy |
| GridMeta | meta | Grid metadata defining the voxel size and bounds |
Exceptions
| Type | Condition |
|---|---|
| ArgumentNullException | occurs when |
| ArgumentException | occurs when input arrays have different lengths, or if grid dimensions are invalid, or if voxel size is not positive, or if any position is outside the provided grid bounds. |
| OutOfMemoryException | occurs when the grid size exceeds available memory. |
| ArgumentOutOfRangeException | occurs when any position is outside the provided grid bounds. |