File map2d.hpp

Core API objects - map 2D.

template<typename T>
struct TypeTraits<T, typename enable_if_is_base_of<Map2DInterface, T>::type>

#include <map2d.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::Map2D

namespace slamcore

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Client-library related getter methods

Get information about the client library

class Map2DInterface : public MeasurementPoint<camera_clock>

#include <map2d.hpp>

Interface to a 2D map.

Public Types

using Ptr = std::shared_ptr<Map2DInterface>

using CPtr = std::shared_ptr<const Map2DInterface>

using MeasurementPointT = MeasurementPoint<camera_clock>

Public Functions

virtual ~Map2DInterface() = default

virtual bool hasChannel(MapChannelType channel) const = 0

Return whether this map has a channel of the given type.

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.

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.

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.

virtual std::size_t numGroups() const = 0

Returns the number of groups in the map.

virtual std::size_t numChannels() const = 0

Returns the number of channels in the map

virtual std::size_t numChannels(std::size_t group) const = 0

Returns the number of channels in the given group.

virtual ScalarT getCellSize() const = 0

Map cell size in metres.

virtual std::size_t getWidth() const = 0

Number of cells in the horizontal dimension.

virtual std::size_t getHeight() const = 0

Number of cells in the vertical dimension.

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

virtual IDT getMapId() const = 0

Map identifier for sub-mapped or tiled implementations.

template<typename T> type >

#include <map2d.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::Map2D