CoverageControl::MapUtils Namespace Reference

Namespace for map utilities functions. More...

Classes
struct	MapBounds

Functions
void	GetClosestGridCoordinate (double const resolution, Point2 const &pt, int &idx, int &idy)
	Gets the closest point on the grid.
void	ComputeOffsets (double const resolution, Point2 const &pos, int const submap_size, int const map_size, MapBounds &index, MapBounds &offset)
template<typename T = MapType>
void	GetSubMap (double const resolution, Point2 const &pos, int const map_size, T const &map, int const submap_size, T &submap)
template<typename T = MapType>
auto	GetSubMap (double const resolution, Point2 const &pos, int const map_size, T const &map, int const submap_size)
int	WriteMap (MapType const &map, std::string const &file_name)
	Write the world map to a file.
int	WriteMapSparse (MapType const &map, std::string const &file_name)
	Write the world map to a file.
int	IsPointOutsideBoundary (double const resolution, Point2 const &pos, int const sensor_size, int const boundary)

Detailed Description

Namespace for map utilities functions.

Function Documentation

ComputeOffsets()

void ComputeOffsets ( double const resolution, Point2 const & pos, int const submap_size, int const map_size, MapBounds & index, MapBounds & offset )

inline

Compute necessary map transformations when the point is close to the boundary

Definition at line 59 of file map_utils.h.

GetClosestGridCoordinate()

void GetClosestGridCoordinate ( double const resolution, Point2 const & pt, int & idx, int & idy )

inline

Gets the closest point on the grid.

Definition at line 51 of file map_utils.h.

GetSubMap() [1/2]

template<typename T = MapType>

auto GetSubMap ( double const resolution, Point2 const & pos, int const map_size, T const & map, int const submap_size )

inline

Definition at line 100 of file map_utils.h.

GetSubMap() [2/2]

template<typename T = MapType>

void GetSubMap ( double const resolution, Point2 const & pos, int const map_size, T const & map, int const submap_size, T & submap )

inline

Definition at line 89 of file map_utils.h.

IsPointOutsideBoundary()

int IsPointOutsideBoundary ( double const resolution, Point2 const & pos, int const sensor_size, int const boundary )

inline

Definition at line 140 of file map_utils.h.

WriteMap()

int WriteMap ( MapType const & map, std::string const & file_name )

inline

Write the world map to a file.

Definition at line 109 of file map_utils.h.

WriteMapSparse()

int WriteMapSparse ( MapType const & map, std::string const & file_name )

inline

Write the world map to a file.

Definition at line 122 of file map_utils.h.