#include <vector_nav_grid.h>

Inheritance diagram for nav_grid::VectorNavGrid< T >:

Public Member Functions
unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two grid coordinates... compute the associated index. More...

unsigned int	getIndex (double x, double y) const
	Given two world coordinates... compute the associated index. More...

T	getValue (const unsigned int x, const unsigned int y) const override
	get the value of the grid at (x,y) More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated grid coordinates. More...

T	operator[] (unsigned int i) const

T &	operator[] (unsigned int i)

void	reset () override
	Reset the contents of the grid to the default value. More...

void	setInfo (const NavGridInfo &new_info) override
	Change the info while attempting to keep the values associated with the grid coordinates. More...

void	setValue (const unsigned int x, const unsigned int y, const T &value) override
	set the value of the grid at (x,y) More...

unsigned int	size () const
	Return the size of the vector. Equivalent to width * height. More...

void	updateInfo (const NavGridInfo &new_info) override
	Update the info while keeping the data geometrically in tact. More...

Public Member Functions inherited from nav_grid::NavGrid< T >
std::string	getFrameId () const

unsigned int	getHeight () const

NavGridInfo	getInfo () const

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getWidth () const

	NavGrid (const T default_value=T{})

void	setDefaultValue (const T new_value)
	Set the default value. More...

T	getValue (const Index &index)

T	operator() (const unsigned int x, const unsigned int y) const

T	operator() (const Index &index) const

void	setValue (const Index &index, const T &value)

Protected Attributes
std::vector< T >	data_

Protected Attributes inherited from nav_grid::NavGrid< T >
T	default_value_

NavGridInfo	info_

Detailed Description

template<typename T>
class nav_grid::VectorNavGrid< T >

A straight-forward implementation of the NavGrid class where the data for cell (x, y) is stored in a std::vector with index (y * info.width + x).

Definition at line 50 of file vector_nav_grid.h.

Member Function Documentation

template<typename T>

unsigned int nav_grid::VectorNavGrid< T >::getIndex	(	unsigned int	mx,
		unsigned int	my
	)		const

inline

Given two grid coordinates... compute the associated index.

Parameters

[in]	mx	The x coordinate
[in]	my	The y coordinate

Returns: The associated index

Definition at line 203 of file vector_nav_grid.h.

template<typename T>

unsigned int nav_grid::VectorNavGrid< T >::getIndex	(	double	x,
		double	y
	)		const

inline

Given two world coordinates... compute the associated index.

Parameters

[in]	mx	The x coordinate
[in]	my	The y coordinate

Returns: The associated index

Definition at line 214 of file vector_nav_grid.h.

template<typename T>

T nav_grid::VectorNavGrid< T >::getValue	(	const unsigned int	x,
		const unsigned int	y
	)		const

inlineoverridevirtual

get the value of the grid at (x,y)

Parameters

x[in]	Valid x coordinate
y[in]	Valid y coordinate

Returns: value at (x,y)

Implements nav_grid::NavGrid< T >.

Definition at line 176 of file vector_nav_grid.h.

template<typename T>

void nav_grid::VectorNavGrid< T >::indexToCells	(	unsigned int	index,
		unsigned int &	mx,
		unsigned int &	my
	)		const

inline

Given an index... compute the associated grid coordinates.

Parameters

[in]	index	The index
[out]	mx	Set to the associated x grid coordinate
[out]	my	Set to the associated y grid coordinate

Definition at line 227 of file vector_nav_grid.h.

template<typename T>

T nav_grid::VectorNavGrid< T >::operator[] ( unsigned int i ) const

inline

Overloading the [] operator so that the data can be accessed directly with vector_nav_grid[i]

Definition at line 188 of file vector_nav_grid.h.

template<typename T>

T& nav_grid::VectorNavGrid< T >::operator[] ( unsigned int i )

inline

Definition at line 189 of file vector_nav_grid.h.

template<typename T>

void nav_grid::VectorNavGrid< T >::reset ( )

inlineoverridevirtual

Reset the contents of the grid to the default value.

Implements nav_grid::NavGrid< T >.

Definition at line 58 of file vector_nav_grid.h.

template<typename T>

void nav_grid::VectorNavGrid< T >::setInfo ( const NavGridInfo & new_info )

inlineoverridevirtual

Change the info while attempting to keep the values associated with the grid coordinates.

If the width changes, we need to move each row to its new location

If just the height changes, then we can resize the vector without having to move elements

We just overwrite the rest of the grid info

Implements nav_grid::NavGrid< T >.

Definition at line 72 of file vector_nav_grid.h.

template<typename T>

void nav_grid::VectorNavGrid< T >::setValue	(	const unsigned int	x,
		const unsigned int	y,
		const T &	value
	)

inlineoverridevirtual

set the value of the grid at (x,y)

Parameters

x[in]	Valid x coordinate
y[in]	Valid y coordinate
value[in]	New Value

Implements nav_grid::NavGrid< T >.

Definition at line 171 of file vector_nav_grid.h.

template<typename T>

unsigned int nav_grid::VectorNavGrid< T >::size ( ) const

inline

Return the size of the vector. Equivalent to width * height.

Returns: size of the vector

Definition at line 195 of file vector_nav_grid.h.

template<typename T>

void nav_grid::VectorNavGrid< T >::updateInfo ( const NavGridInfo & new_info )

inlineoverridevirtual

Update the info while keeping the data geometrically in tact.

If the resolution or frame_id changes, reset all the data.

Otherwise, adjust the new_info so the grid stays aligned (The grid's new info will be within a resolution-length of the original new_info). Then copy the common values into the new grid.

Parameters

[in] new_info New information to update the grid with

Reimplemented from nav_grid::NavGrid< T >.

Definition at line 107 of file vector_nav_grid.h.

Member Data Documentation

template<typename T>

std::vector<T> nav_grid::VectorNavGrid< T >::data_

protected

Definition at line 235 of file vector_nav_grid.h.

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

vector_nav_grid.h

Public Member Functions

Protected Attributes

Detailed Description

template<typename T> class nav_grid::VectorNavGrid< T >

Member Function Documentation

Member Data Documentation

template<typename T>
class nav_grid::VectorNavGrid< T >