Function grid_map::getIndexFromPosition

Function Documentation

bool grid_map::getIndexFromPosition(Index &index, const Position &position, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex = Index::Zero())

Gets the index of the cell which contains a position in the map frame.

Parameters:

  • index – [out] of the cell.

  • position – [in] the position in the map frame.

  • mapLength – [in] the lengths in x and y direction.

  • mapPosition – [in] the position of the map.

  • resolution – [in] the resolution of the map.

  • bufferSize – [in] the size of the buffer (optional).

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

Returns:

true if successful, false if position outside of map.