CallbackMap< T > Class Template Reference

A map-like utility for generating and validating neighbor coordinates in a configurable pattern. More...

#include <CallbackMap.h>

Inheritance diagram for CallbackMap< T >:

Collaboration diagram for CallbackMap< T >:

Public Member Functions
	CallbackMap ()=default
	Default constructor.
	CallbackMap (float distanceX, float distanceY, float resolutionM, int neighborCount)
	Construct a CallbackMap with extents, resolution, and neighbor count.
int	getXCount () const override
	Get the number of cells in the X direction.
int	getYCount () const override
	Get the number of cells in the Y direction.
float	getResolution () const override
	Get the map resolution in meters.
std::vector< Coordinate< T > >	getNeighbors (Coordinate< T > from) const override
	Generate valid neighbor coordinates around a given point.
bool	isValid (const Coordinate< T > &coord) const override
	Check if a coordinate is valid (not occupied).
bool	getCell (int x, int y, CellState &state) const override
	Get the cell state at grid coordinates (x, y).
Coordinate< T >	toWorld (int x, int y) const override
	Convert grid indices to world coordinates.
void	setIsValidCallback (CellState(*callback)(Coordinate< T >))
	Set the callback for cell validity checking.
void	setResolution (float resolutionM)
	Set the map resolution in meters.
void	setNeighborCount (int neighborCount)
	Set the number of neighbors to generate.
void	setDistanceX (float dx)
	Set the map extent in X direction.
void	setDistanceY (float dy)
	Set the map extent in Y direction.
virtual int	getXCount () const =0
	Get the number of cells in the X direction.
virtual int	getYCount () const =0
	Get the number of cells in the Y direction.
virtual float	getResolution () const =0
	Get the map resolution (cell size in meters).
virtual bool	getCell (int x, int y, CellState &state) const =0
	Get the state of a cell by integer indices.
virtual Coordinate< T >	toWorld (int x, int y) const =0
	Convert cell indices to world coordinates.
virtual std::vector< Coordinate< T > >	getNeighbors (Coordinate< T > from) const =0
	Get world coordinates of neighboring cells (for pathfinding or navigation).
virtual bool	isValid (const Coordinate< T > &coord) const =0
	Check if a coordinate is inside the map bounds.

Protected Attributes
int	defaultNeighborCount = 36
float	defaultResolutionM = 1.0f
float	distanceX = 0
float	distanceY = 0
CellState(*	isValidCB )(Coordinate< T > coord) = nullptr

Detailed Description

template<typename T = DistanceM>
class tinyrobotics::CallbackMap< T >

A map-like utility for generating and validating neighbor coordinates in a configurable pattern.

CallbackMap generates neighbor coordinates around a given point at a specified distance and angular resolution. It supports a user-provided callback to determine if a coordinate is valid (e.g., obstacle-free).

Typical use: pathfinding, navigation, or virtual occupancy grids where neighbors are not stored but computed on demand.

Template Parameters

T	Numeric type for coordinates (default: DistanceM)

Example usage:

CallbackMap<> map(1.0f, 16); // 1m distance, 16 directions
map.setIsValidCallback([](Coordinate<DistanceM> c) { return c.x > 0; });
auto neighbors = map.getNeighbors(Coordinate<DistanceM>(0,0));

Constructor & Destructor Documentation

CallbackMap()

CallbackMap ( float  distanceX, float  distanceY, float  resolutionM, int  neighborCount  )

inline

Construct a CallbackMap with extents, resolution, and neighbor count.

Parameters

distanceX	Map extent in X direction (meters)
distanceY	Map extent in Y direction (meters)
resolutionM	Grid resolution (meters)
neighborCount	Number of neighbors to generate

Member Function Documentation

getCell()

bool getCell ( int  x, int  y, CellState &  state  ) const

inlineoverridevirtual

Get the cell state at grid coordinates (x, y).

Parameters

x	X grid index
y	Y grid index
state	Output cell state

Returns

True if cell state is available

Implements IMap< T >.

getNeighbors()

std::vector< Coordinate< T > > getNeighbors ( Coordinate< T >  from ) const

inlineoverridevirtual

Generate valid neighbor coordinates around a given point.

Parameters

from	Center coordinate

Returns

Vector of valid neighbor coordinates

Implements IMapNeighbors< T >.

getResolution()

float getResolution ( ) const

inlineoverridevirtual

Get the map resolution in meters.

Implements IMap< T >.

getXCount()

int getXCount ( ) const

inlineoverridevirtual

Get the number of cells in the X direction.

Implements IMap< T >.

getYCount()

int getYCount ( ) const

inlineoverridevirtual

Get the number of cells in the Y direction.

Implements IMap< T >.

isValid()

bool isValid ( const Coordinate< T > &  coord ) const

inlineoverridevirtual

Check if a coordinate is valid (not occupied).

Parameters

coord

Coordinate to check

Returns

True if valid (not OCCUPIED), false otherwise

Implements IMapNeighbors< T >.

setDistanceX()

void setDistanceX ( float  dx )

inline

Set the map extent in X direction.

Parameters

dx	Extent in meters

setDistanceY()

void setDistanceY ( float  dy )

inline

Set the map extent in Y direction.

Parameters

dy	Extent in meters

setIsValidCallback()

void setIsValidCallback ( CellState(*)(Coordinate< T >)  callback )

inline

Set the callback for cell validity checking.

Parameters

callback

Function pointer taking a coordinate and returning CellState

setNeighborCount()

void setNeighborCount ( int  neighborCount )

inline

Set the number of neighbors to generate.

Parameters

neighborCount

Number of neighbors

setResolution()

void setResolution ( float  resolutionM )

inline

Set the map resolution in meters.

Parameters

resolutionM

Grid resolution

toWorld()

Coordinate< T > toWorld ( int  x, int  y  ) const

inlineoverridevirtual

Convert grid indices to world coordinates.

Parameters

x	X grid index
y	Y grid index

Returns

World coordinate

Implements IMap< T >.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/maps/CallbackMap.h