Class slamcore::Map2DInterface
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class Map2DInterface : public MeasurementPoint<camera_clock>
Interface to a 2D map.
Public Types
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using Ptr = std::shared_ptr<Map2DInterface>
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using CPtr = std::shared_ptr<const Map2DInterface>
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using MeasurementPointT = MeasurementPoint<camera_clock>
Public Functions
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virtual ~Map2DInterface() = default
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virtual bool hasChannel(MapChannelType channel) const = 0
Return whether this map has a channel of the given type.
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virtual bool hasChannel(MapChannelType channel, std::size_t group) const = 0
Return whether this map has a channel of the given type, of the given group.
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virtual const MapChannel2DInterface &getChannel(MapChannelType channel) const = 0
Return the channel of the given type, of the group with the highest index.
Note
Throws std::out_of_range if the channel does not exist.
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virtual const MapChannel2DInterface &getChannel(MapChannelType channel, std::size_t group) const = 0
Return the channel of the given type, of the given group.
Note
Throws std::out_of_range if the channel does not exist.
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virtual std::size_t numChannels(std::size_t group) const = 0
Returns the number of channels in the given group.
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virtual const Vector<double, 2> &getBoundsMin() const = 0
Min 2D coordinates of the map bounds, in metres.
The map bounds in metres define the rectangular area of 2D space covered by the [0,0]x[w,h] rectangle of integer cell coordinates.
The max 2D coordinates of the map bounds in metres are unambiguously determined as: max_x = min_x + resolution * width max_y = min_y + resolution * height
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using Ptr = std::shared_ptr<Map2DInterface>