#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... | |
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.
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.
[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.
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virtual |
Definition at line 22 of file submap_geometry.cpp.
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.
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private |
Parent grid map of the submap.
Definition at line 47 of file submap_geometry.hpp.
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private |
Length of the submap.
Definition at line 59 of file submap_geometry.hpp.
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private |
Position (center) of the submap.
Definition at line 56 of file submap_geometry.hpp.
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private |
Index in the submap that corresponds to the requested position of the submap.
Definition at line 63 of file submap_geometry.hpp.
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private |
Size of the submap.
Definition at line 53 of file submap_geometry.hpp.
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private |
Start index (typically top left) index of the submap.
Definition at line 50 of file submap_geometry.hpp.