A grid map using two bit vectors to represent CellState efficiently. More...

#include <GridBitMap.h>

Inheritance diagram for GridBitMap< T >:

Collaboration diagram for GridBitMap< T >:

[legend]

Classes
struct	Cell

Public Member Functions
	GridBitMap (int xCount, int yCount, float resolutionM)

	GridBitMap (int xCount, int yCount, Distance resolution)

void	resize (int newXCount, int newYCount)

int	getXCount () const
	Get the number of cells in the X direction.

int	getYCount () const
	Get the number of cells in the Y direction.

float	getResolution () const
	Get the map resolution (cell size in meters).

bool	worldToCell (float wx, float wy, Cell &cell) const

void	cellToWorld (int cx, int cy, float &wx, float &wy) const

bool	getCell (int cx, int cy, CellState &result) const
	Get the state of a cell by integer indices.

void	setCell (int cx, int cy, CellState value)

bool	getCell (const Coordinate< T > &coord, CellState &result) const

void	setCell (const Coordinate< T > &coord, CellState value)

bool	isValid (const Coordinate< T > &coord) const
	Check if a coordinate is within the map bounds.

std::vector< Coordinate<> >	getNeighbors (Coordinate< T > from) const
	Get world coordinates of neighboring cells (for pathfinding or navigation)

Coordinate< T >	toWorld (int cx, int cy) const override
	Convert cell indices to world coordinates (returns Coordinate<T>)

size_t	writeTo (Print &out)
	Write map to output.

size_t	readFrom (Stream &in)
	Read map from input.

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 Member Functions
std::vector< Cell >	getNeighborCells (const Coordinate< T > from) const
	Determine all neighboring cells (8-connected) for a given cell coordinate.

Protected Attributes
int	xCount = 0

int	yCount = 0

float	resolution = 0.1f

Coordinate< T >	origin

std::vector< bool >	occupied

std::vector< bool >	free

GridMapSerializer< GridBitMap, CellState, T >	serializer

Detailed Description

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

A grid map using two bit vectors to represent CellState efficiently.

The GridMapBitVector class models the environment as a regular grid of cells, each storing a state (FREE, OCCUPIED, UNKNOWN) using two std::vector<bool> for memory efficiency. So each cell occupies only 2 buts!

CellState encoding:

00: FREE
01: OCCUPIED
10: UNKNOWN

Template Parameters

T	Numeric type for coordinates (default: float)

Member Function Documentation

◆ getCell()

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

inlinevirtual

Get the state of a cell by integer indices.

Parameters

x	Cell X index
y	Cell Y index
state	Output: Cell state (FREE, OCCUPIED, UNKNOWN)

Returns: True if cell is valid, false otherwise.

Implements IMap< T >.

◆ getNeighbors()

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

inlinevirtual

Get world coordinates of neighboring cells (for pathfinding or navigation)

Implements IMapNeighbors< T >.

◆ getResolution()

float getResolution ( ) const

inlinevirtual

Get the map resolution (cell size in meters).

Implements IMap< T >.

◆ getXCount()

int getXCount ( ) const

inlinevirtual

Get the number of cells in the X direction.

Implements IMap< T >.

◆ getYCount()

int getYCount ( ) const

inlinevirtual

Get the number of cells in the Y direction.

Implements IMap< T >.

◆ isValid()

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

inlinevirtual

Check if a coordinate is within the map bounds.

Parameters

coord The coordinate to check.

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

Implements IMapNeighbors< T >.

◆ toWorld()

Coordinate< T > toWorld	(	int	cx,
		int	cy
	)		const

inlineoverridevirtual

Convert cell indices to world coordinates (returns Coordinate<T>)

Implements IMap< T >.

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

src/TinyRobotics/maps/GridBitMap.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ getCell()

◆ getNeighbors()

◆ getResolution()

◆ getXCount()

◆ getYCount()

◆ isValid()

◆ toWorld()