Function grid_map::getBufferRegionsForSubmap

Function Documentation

bool grid_map::getBufferRegionsForSubmap(std::vector<BufferRegion> &submapBufferRegions, const Index &submapIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex = Index::Zero())

Computes the regions in the circular buffer that make up the data for a requested submap.

Parameters:

  • submapBufferRegions – [out] the list of buffer regions that make up the submap.

  • submapIndex – [in] the index (top-left) for the requested submap.

  • submapBufferSize – [in] the size of the requested submap.

  • bufferSize – [in] the buffer size of the map.

  • bufferStartIndex – [in] the index of the starting point of the circular buffer (optional).

Returns:

true if successful, false if requested submap is not fully contained in the map.