Class SubmapGeometry

• Defined in File SubmapGeometry.hpp

Class Documentation

class SubmapGeometry

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.

Public Functions

SubmapGeometry(const GridMap &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.

Parameters:

• gridMap – [in] the parent grid map containing the submap.

• position – [in] the requested submap position (center).

• length – [in] the requested submap length.

• isSuccess – [out] true if successful, false otherwise.

virtual ~SubmapGeometry()

const GridMap &getGridMap() const

const Length &getLength() const

const Position &getPosition() const

const Index &getRequestedIndexInSubmap() const

const Size &getSize() const

double getResolution() const

const Index &getStartIndex() const