#include <submap_geometry.hpp>
Public Member Functions | |
| const CostMap & | getGridMap () const |
| const Length & | getLength () const |
| const Position & | getPosition () const |
| const Index & | getRequestedIndexInSubmap () const |
| double | getResolution () const |
| const Size & | getSize () const |
| const Index & | getStartIndex () const |
| SubmapGeometry (const CostMap &gridMap, const Position &position, const Length &length, bool &isSuccess) | |
| virtual | ~SubmapGeometry () |
Private Attributes | |
| const CostMap & | gridMap_ |
| Parent grid map of the submap. | |
| Length | length_ |
| Length of the submap. | |
| Position | position_ |
| Position (center) of the submap. | |
| Index | requestedIndexInSubmap_ |
| Size | size_ |
| Size of the submap. | |
| Index | startIndex_ |
| Start index (typically top left) index of the submap. | |
This class holds information about the geometry of submap region of a grid map. Note that, this class does NOT hold the any data of the grid map.
Definition at line 18 of file submap_geometry.hpp.
| cost_map::SubmapGeometry::SubmapGeometry | ( | const CostMap & | gridMap, |
| const Position & | position, | ||
| const Length & | length, | ||
| bool & | isSuccess | ||
| ) |
Constructor. Note that the requested position and length of the submap is adapted to fit the geometry of the parent grid map.
| [in] | gridMap | the parent grid map containing the submap. |
| [in] | position | the requested submap position (center). |
| [in] | length | the requested submap length. |
| [out] | isSuccess | true if successful, false otherwise. |
Definition at line 12 of file submap_geometry.cpp.
| cost_map::SubmapGeometry::~SubmapGeometry | ( | ) | [virtual] |
Definition at line 22 of file submap_geometry.cpp.
| const CostMap & cost_map::SubmapGeometry::getGridMap | ( | ) | const |
Definition at line 26 of file submap_geometry.cpp.
| const Length & cost_map::SubmapGeometry::getLength | ( | ) | const |
Definition at line 31 of file submap_geometry.cpp.
| const Position & cost_map::SubmapGeometry::getPosition | ( | ) | const |
Definition at line 36 of file submap_geometry.cpp.
| const Index & cost_map::SubmapGeometry::getRequestedIndexInSubmap | ( | ) | const |
Definition at line 41 of file submap_geometry.cpp.
| double cost_map::SubmapGeometry::getResolution | ( | ) | const |
Definition at line 51 of file submap_geometry.cpp.
| const Size & cost_map::SubmapGeometry::getSize | ( | ) | const |
Definition at line 46 of file submap_geometry.cpp.
| const Index & cost_map::SubmapGeometry::getStartIndex | ( | ) | const |
Definition at line 56 of file submap_geometry.cpp.
const CostMap& cost_map::SubmapGeometry::gridMap_ [private] |
Parent grid map of the submap.
Definition at line 47 of file submap_geometry.hpp.
Length cost_map::SubmapGeometry::length_ [private] |
Length of the submap.
Definition at line 59 of file submap_geometry.hpp.
Position cost_map::SubmapGeometry::position_ [private] |
Position (center) of the submap.
Definition at line 56 of file submap_geometry.hpp.
Index in the submap that corresponds to the requested position of the submap.
Definition at line 63 of file submap_geometry.hpp.
Size cost_map::SubmapGeometry::size_ [private] |
Size of the submap.
Definition at line 53 of file submap_geometry.hpp.
Index cost_map::SubmapGeometry::startIndex_ [private] |
Start index (typically top left) index of the submap.
Definition at line 50 of file submap_geometry.hpp.