#include <SubmapGeometry.hpp>
Public Member Functions | |
const GridMap & | 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 GridMap &gridMap, const Position &position, const Length &length, bool &isSuccess) | |
virtual | ~SubmapGeometry () |
Private Attributes | |
const GridMap & | 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... | |
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 22 of file SubmapGeometry.hpp.
grid_map::SubmapGeometry::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.
[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 14 of file SubmapGeometry.cpp.
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virtual |
Definition at line 24 of file SubmapGeometry.cpp.
const GridMap & grid_map::SubmapGeometry::getGridMap | ( | ) | const |
Definition at line 28 of file SubmapGeometry.cpp.
const Length & grid_map::SubmapGeometry::getLength | ( | ) | const |
Definition at line 33 of file SubmapGeometry.cpp.
const Position & grid_map::SubmapGeometry::getPosition | ( | ) | const |
Definition at line 38 of file SubmapGeometry.cpp.
const Index & grid_map::SubmapGeometry::getRequestedIndexInSubmap | ( | ) | const |
Definition at line 43 of file SubmapGeometry.cpp.
double grid_map::SubmapGeometry::getResolution | ( | ) | const |
Definition at line 53 of file SubmapGeometry.cpp.
const Size & grid_map::SubmapGeometry::getSize | ( | ) | const |
Definition at line 48 of file SubmapGeometry.cpp.
const Index & grid_map::SubmapGeometry::getStartIndex | ( | ) | const |
Definition at line 58 of file SubmapGeometry.cpp.
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private |
Parent grid map of the submap.
Definition at line 51 of file SubmapGeometry.hpp.
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private |
Length of the submap.
Definition at line 63 of file SubmapGeometry.hpp.
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private |
Position (center) of the submap.
Definition at line 60 of file SubmapGeometry.hpp.
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private |
Index in the submap that corresponds to the requested position of the submap.
Definition at line 67 of file SubmapGeometry.hpp.
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private |
Size of the submap.
Definition at line 57 of file SubmapGeometry.hpp.
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private |
Start index (typically top left) index of the submap.
Definition at line 54 of file SubmapGeometry.hpp.