#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. More...

Length	length_
	Length of the submap. More...

Position	position_
	Position (center) of the submap. More...

Index	requestedIndexInSubmap_

Size	size_
	Size of the submap. More...

Index	startIndex_
	Start index (typically top left) index of the submap. More...

Detailed Description

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.

Constructor & Destructor Documentation

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.

Parameters

[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.

Member Function Documentation

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.

Member Data Documentation

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 cost_map::SubmapGeometry::requestedIndexInSubmap_

private

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.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation