Struct Positions

Defined in File NavMap.hpp

Struct Documentation

struct Positions

Structure-of-arrays for storing 3D vertex positions.

Positions are stored in separate x/y/z arrays for cache-friendly access and easy interop. Use navmap::Positions::at() to read a vertex as an Eigen vector.

Invariant: size() == x.size() == y.size() == z.size()

Public Functions

inline size_t size() const

Returns:: Number of vertices stored.

inline Eigen::Vector3f at(PointId id) const

Returns vertex id as a 3D vector.

Warning

No bounds checking is performed.

Parameters:: id – Vertex index (0-based).
Returns:: Eigen::Vector3f with (x,y,z).

Public Members

std::vector<float> x: X coordinates (meters)

std::vector<float> y: Y coordinates (meters)

std::vector<float> z: Z coordinates (meters)