SubmapGeometry.cpp
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1 /*
2  * SubmapGeometry.cpp
3  *
4  * Created on: Aug 18, 2015
5  * Author: Péter Fankhauser
6  * Institute: ETH Zurich, ANYbotics
7  */
8 
11 
12 namespace grid_map {
13 
14 SubmapGeometry::SubmapGeometry(const GridMap& gridMap, const Position& position,
15  const Length& length, bool& isSuccess)
16  : gridMap_(gridMap)
17 {
19  requestedIndexInSubmap_, position, length, gridMap_.getLength(),
22 }
23 
25 {
26 }
27 
29 {
30  return gridMap_;
31 }
32 
34 {
35  return length_;
36 }
37 
39 {
40  return position_;
41 }
42 
44 {
46 }
47 
49 {
50  return size_;
51 }
52 
54 {
55  return gridMap_.getResolution();
56 }
57 
59 {
60  return startIndex_;
61 }
62 
63 } /* namespace grid_map */
const Length & getLength() const
Definition: GridMap.cpp:640
double getResolution() const
Eigen::Array2i Index
Definition: TypeDefs.hpp:22
const GridMap & getGridMap() const
const Index & getStartIndex() const
Definition: GridMap.cpp:660
bool getPosition(const Index &index, Position &position) const
Definition: GridMap.cpp:233
Eigen::Array2i Size
Definition: TypeDefs.hpp:23
Size size_
Size of the submap.
bool getSubmapInformation(Index &submapTopLeftIndex, Size &submapBufferSize, Position &submapPosition, Length &submapLength, Index &requestedIndexInSubmap, const Position &requestedSubmapPosition, const Length &requestedSubmapLength, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
const Index & getRequestedIndexInSubmap() const
const GridMap & gridMap_
Parent grid map of the submap.
Length length_
Length of the submap.
const Length & getLength() const
double getResolution() const
Definition: GridMap.cpp:648
Eigen::Vector2d Position
Definition: TypeDefs.hpp:18
const Position & getPosition() const
const Size & getSize() const
Index startIndex_
Start index (typically top left) index of the submap.
SubmapGeometry(const GridMap &gridMap, const Position &position, const Length &length, bool &isSuccess)
Position position_
Position (center) of the submap.
const Index & getStartIndex() const
Eigen::Array2d Length
Definition: TypeDefs.hpp:24
const Size & getSize() const
Definition: GridMap.cpp:652


grid_map_core
Author(s): Péter Fankhauser
autogenerated on Sat Nov 28 2020 03:16:50