.. _program_listing_file_include_tuw_geometry_layered_maps.hpp: Program Listing for File layered_maps.hpp ========================================= |exhale_lsh| :ref:`Return to documentation for file ` (``include/tuw_geometry/layered_maps.hpp``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /*************************************************************************** * Software License Agreement (BSD License) * * Copyright (C) 2016 by Horatiu George Todoran * * * * Redistribution and use in source and binary forms, with or without * * modification, are permitted provided that the following conditions * * are met: * * * * 1. Redistributions of source code must retain the above copyright * * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * * notice, this list of conditions and the following disclaimer in * * the documentation and/or other materials provided with the * * distribution. * * 3. Neither the name of the copyright holder nor the names of its * * contributors may be used to endorse or promote products derived * * from this software without specific prior written permission. * * * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY * * WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * * POSSIBILITY OF SUCH DAMAGE. * ***************************************************************************/ #ifndef TUW_GEOMETRY__LAYERED_MAPS_HPP #define TUW_GEOMETRY__LAYERED_MAPS_HPP #include #include namespace tuw { class LayeredMaps; using LayeredMapsPtr = std::shared_ptr; using LayeredMapsCostPtr = std::shared_ptr; class LayeredMaps : public WorldScopedMaps { public: enum Interpolation { SIMPLE = 0, BILINEAR = 1 }; //special class member functions LayeredMaps(); virtual ~LayeredMaps() = default; LayeredMaps(const LayeredMaps &) = default; LayeredMaps & operator=(const LayeredMaps &) = default; LayeredMaps(LayeredMaps &&) = default; LayeredMaps & operator=(LayeredMaps &&) = default; void initLayers( int width_pixel, int height_pixel, double min_x, double max_x, double min_y, double max_y, double rotation = 0); void clearLayers(); void clearLayer(const size_t & _layer); void resizeLayers(const size_t & _n); size_t sizeLayers() const; cv::Mat & mapLayer(const size_t & _layer); const cv::Mat & mapLayer(const size_t & _layer) const; double getVal( const size_t & _layer, const tuw::Point2D & _worldPos, Interpolation interpolationType = BILINEAR) const; void computeDistanceField( cv::Mat & _mDst, std::vector & _pSrc, const double & _radius, bool _flipDistance = false, bool connectPoints = false) const; void computeDistanceField( cv::Mat & _mDst, cv::Mat & _mSrc, const double & _radius, bool _flipDistance = false) const; protected: virtual void initLayers(); private: std::vector mapLayers_; }; } // namespace tuw #endif // TUW_GEOMETRY__LAYERED_MAPS_HPP