coordinate_conversion.h
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34 
35 #ifndef NAV_GRID_COORDINATE_CONVERSION_H
36 #define NAV_GRID_COORDINATE_CONVERSION_H
37 
38 #include <nav_grid/nav_grid_info.h>
39 #include <math.h>
40 
41 namespace nav_grid
42 {
53 inline void gridToWorld(const NavGridInfo& info, int mx, int my, double& wx, double& wy)
54 {
55  wx = info.origin_x + (mx + 0.5) * info.resolution;
56  wy = info.origin_y + (my + 0.5) * info.resolution;
57 }
58 
69 inline void worldToGrid(const NavGridInfo& info, double wx, double wy, double& mx, double& my)
70 {
71  mx = (wx - info.origin_x) / info.resolution;
72  my = (wy - info.origin_y) / info.resolution;
73 }
74 
83 inline void worldToGrid(const NavGridInfo& info, double wx, double wy, int& mx, int& my)
84 {
85  double dmx, dmy;
86  worldToGrid(info, wx, wy, dmx, dmy);
87  mx = static_cast<int>(floor(dmx));
88  my = static_cast<int>(floor(dmy));
89 }
90 
104 inline bool worldToGridBounded(const NavGridInfo& info, double wx, double wy, unsigned int& mx, unsigned int& my)
105 {
106  double dmx, dmy;
107  worldToGrid(info, wx, wy, dmx, dmy);
108 
109  bool valid = true;
110 
111  if (dmx < 0.0)
112  {
113  mx = 0;
114  valid = false;
115  }
116  else if (dmx >= info.width)
117  {
118  mx = info.width - 1;
119  valid = false;
120  }
121  else
122  {
123  mx = static_cast<unsigned int>(dmx);
124  }
125 
126  if (dmy < 0.0)
127  {
128  my = 0;
129  valid = false;
130  }
131  else if (dmy >= info.height)
132  {
133  my = info.height - 1;
134  valid = false;
135  }
136  else
137  {
138  my = static_cast<unsigned int>(dmy);
139  }
140 
141  return valid;
142 }
143 
154 inline bool isWithinGrid(const NavGridInfo& info, double wx, double wy)
155 {
156  wx -= info.origin_x;
157  wy -= info.origin_y;
158  return wx >= 0.0 &&
159  wy >= 0.0 &&
160  wx < info.width * info.resolution &&
161  wy < info.height * info.resolution;
162 }
163 
164 
165 
166 } // namespace nav_grid
167 
168 #endif // NAV_GRID_COORDINATE_CONVERSION_H
double origin_x
The origin defines the coordinates of minimum corner of cell (0,0) in the grid.
Definition: nav_grid_info.h:57
void gridToWorld(const NavGridInfo &info, int mx, int my, double &wx, double &wy)
Convert from grid coordinates to world coordinates of the center of the cell.
bool isWithinGrid(const NavGridInfo &info, double wx, double wy)
Check to see if the world coordinates are within the grid.
void worldToGrid(const NavGridInfo &info, double wx, double wy, double &mx, double &my)
Convert from world coordinates to the precise (double) grid coordinates.
bool worldToGridBounded(const NavGridInfo &info, double wx, double wy, unsigned int &mx, unsigned int &my)
Convert from world coordinates to grid coordinates.


nav_grid
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autogenerated on Mon Feb 28 2022 23:32:36