Struct Surface

• Defined in File NavMap.hpp

Struct Documentation

struct Surface

A connected set of NavCels in a common reference frame.

Each navmap::Surface owns a subset of NavCels plus its own BVH. The frame_id is provided for external consumers (e.g., ROS TF).

Public Members

std::string frame_id

Frame id of this surface.

std::vector<NavCelId> navcels

NavCels belonging to this surface (global ids)

AABB aabb

Bounds of the surface geometry.

std::vector<int> prim_indices

Compact list of cids used by BVH leaves.

std::vector<BVHNode> bvh

BVH nodes for this surface.