00001 /* 00002 * SubmapGeometry.hpp 00003 * 00004 * Created on: Aug 18, 2015 00005 * Author: Péter Fankhauser 00006 * Institute: ETH Zurich, ANYbotics 00007 */ 00008 00009 #pragma once 00010 00011 #include <grid_map_core/GridMap.hpp> 00012 00013 namespace grid_map { 00014 00015 class GridMap; 00016 00022 class SubmapGeometry 00023 { 00024 public: 00025 00035 SubmapGeometry(const GridMap& gridMap, const Position& position, const Length& length, 00036 bool& isSuccess); 00037 00038 virtual ~SubmapGeometry(); 00039 00040 const GridMap& getGridMap() const; 00041 const Length& getLength() const; 00042 const Position& getPosition() const; 00043 const Index& getRequestedIndexInSubmap() const; 00044 const Size& getSize() const; 00045 double getResolution() const; 00046 const Index& getStartIndex() const; 00047 00048 private: 00049 00051 const GridMap& gridMap_; 00052 00054 Index startIndex_; 00055 00057 Size size_; 00058 00060 Position position_; 00061 00063 Length length_; 00064 00067 Index requestedIndexInSubmap_; 00068 00069 public: 00070 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00071 }; 00072 00073 } /* namespace grid_map */