GridMapSerializer< Map, StateT, T > Class Template Reference

Utility class for serializing and deserializing grid maps in CSV format. More...

#include <MapSerializer.h>

Public Member Functions
size_t	write (Map &map, Print &out)
size_t	read (Map &map, Stream &in)

Detailed Description

template<typename Map, typename StateT = CellState, typename T = float>
class tinyrobotics::GridMapSerializer< Map, StateT, T >

Utility class for serializing and deserializing grid maps in CSV format.

The GridMapSerializer class provides methods to write a grid map to a Print object (such as Serial) and to read a grid map from a Stream object. It is designed to work with map types that provide the following interface:

• getXCount(), getYCount(), getResolution(), cellToWorld(), getCell(), setCell(), resize(), setResolution()

The serialization format is:

• Header: "GridMap x:<xCount>, y:<yCount>, resolution=<res>"
• One line per cell: "<wx>,<wy>,<value>" (CSV: world x, world y, value)
  • If the value is missing, the line is "<wx>,<wy>,"

This format is compatible with external tools and spreadsheets for easy inspection and editing.

Example: GridMap x:10, y:10, resolution=0.1 0,0,0 0,0.1,1 ...

Template Parameters

Map	The map type to serialize/deserialize (e.g., GridMap)
StateT	The cell state type (e.g., float, int, CellState)
T	The numeric type for coordinates (e.g., float)

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

• src/TinyRobotics/serialize/MapSerializer.h