#include <yarp/dev/MapGrid2DInfo.h>

Inheritance diagram for yarp::dev::Nav2D::MapGrid2DInfo:

Public Member Functions
	MapGrid2DInfo ()

XYWorld	cell2World (XYCell cell) const

yarp::dev::Nav2D::Map2DLocation	toLocation (XYCell cell) const

XYCell	toXYCell (yarp::dev::Nav2D::Map2DLocation loc) const

XYCell	world2Cell (XYWorld world) const

XYCell	world2Cell_unsafeFast (XYWorld world) const

yarp::dev::Nav2D::Map2DLocation	toLocation (XYWorld cell) const

XYWorld	toXYWorld (yarp::dev::Nav2D::Map2DLocation loc) const

bool	isInsideMap (XYCell cell) const
	Checks if a cell is inside the map.

bool	isInsideMap (XYWorld world) const
	Checks if a world coordinate is inside the map.

Public Attributes
std::string	m_map_name

double	m_resolution
	meters/pixel

MapGrid2DOrigin	m_origin
	pose of the map frame w.r.t. the bottom left corner of the map image

size_t	m_width
	cells

size_t	m_height
	cells

Detailed Description

Definition at line 62 of file MapGrid2DInfo.h.

Constructor & Destructor Documentation

◆ MapGrid2DInfo()

MapGrid2DInfo::MapGrid2DInfo ( )

Definition at line 58 of file MapGrid2DInfo.cpp.

Member Function Documentation

◆ cell2World()

XYWorld MapGrid2DInfo::cell2World ( XYCell cell ) const

Definition at line 67 of file MapGrid2DInfo.cpp.

◆ isInsideMap() [1/2]

bool MapGrid2DInfo::isInsideMap ( XYCell cell ) const

Checks if a cell is inside the map.

Parameters

cell	is the cell location, referred to the top - left corner of the map.

Returns: true if cell is inside the map, false otherwise.

Definition at line 121 of file MapGrid2DInfo.cpp.

◆ isInsideMap() [2/2]

bool MapGrid2DInfo::isInsideMap ( XYWorld world ) const

Checks if a world coordinate is inside the map.

Parameters

world is the world coordinate, expressed in meters, referred to the map origin reference frame.

Returns: true if cell is inside the map, false otherwise.

Definition at line 115 of file MapGrid2DInfo.cpp.

◆ toLocation() [1/2]

Map2DLocation MapGrid2DInfo::toLocation ( XYCell cell ) const

Definition at line 134 of file MapGrid2DInfo.cpp.

◆ toLocation() [2/2]

Map2DLocation MapGrid2DInfo::toLocation ( XYWorld cell ) const

Definition at line 140 of file MapGrid2DInfo.cpp.

◆ toXYCell()

XYCell MapGrid2DInfo::toXYCell ( yarp::dev::Nav2D::Map2DLocation loc ) const

Definition at line 145 of file MapGrid2DInfo.cpp.

◆ toXYWorld()

XYWorld MapGrid2DInfo::toXYWorld ( yarp::dev::Nav2D::Map2DLocation loc ) const

Definition at line 152 of file MapGrid2DInfo.cpp.

◆ world2Cell()

XYCell MapGrid2DInfo::world2Cell ( XYWorld world ) const

Definition at line 85 of file MapGrid2DInfo.cpp.

◆ world2Cell_unsafeFast()

XYCell MapGrid2DInfo::world2Cell_unsafeFast ( XYWorld world ) const

Definition at line 102 of file MapGrid2DInfo.cpp.

Member Data Documentation

◆ m_height

size_t yarp::dev::Nav2D::MapGrid2DInfo::m_height

cells

Definition at line 71 of file MapGrid2DInfo.h.

◆ m_map_name

std::string yarp::dev::Nav2D::MapGrid2DInfo::m_map_name

Definition at line 67 of file MapGrid2DInfo.h.

◆ m_origin

MapGrid2DOrigin yarp::dev::Nav2D::MapGrid2DInfo::m_origin

pose of the map frame w.r.t. the bottom left corner of the map image

Definition at line 69 of file MapGrid2DInfo.h.

◆ m_resolution

double yarp::dev::Nav2D::MapGrid2DInfo::m_resolution

meters/pixel

Definition at line 68 of file MapGrid2DInfo.h.

◆ m_width

size_t yarp::dev::Nav2D::MapGrid2DInfo::m_width