IMap< T > Class Template Reference

Abstract interface for 2D grid maps and occupancy maps in TinyRobotics. More...

#include <IMap.h>

Inheritance diagram for IMap< T >:

Collaboration diagram for IMap< T >:

Public Member Functions
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.
Public Member Functions inherited from IMapNeighbors< T >
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.

Detailed Description

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

Abstract interface for 2D grid maps and occupancy maps in TinyRobotics.

IMap extends IMapNeighbors and provides a comprehensive interface for grid-based or cell-based maps for frontier exploring. It supports cell access, coordinate transforms, and neighbor queries, making it suitable for pathfinding, navigation, and mapping algorithms. All grid or occupancy map implementations (e.g., GridMap, GridBitMap) should inherit from this interface and implement all pure virtual methods.

Features:

• Query map dimensions and resolution
• Access cell state (FREE, OCCUPIED, UNKNOWN) by index
• Convert cell indices to world coordinates
• Query neighbors and check coordinate validity (from IMapNeighbors)

Template Parameters

T	Scalar type for coordinates and math (default: DistanceM)

Required Methods

• getXCount(), getYCount(): Map dimensions in cells
• getResolution(): Cell size in meters
• getNeighbors(Coordinate<T> from): Neighboring cell coordinates for pathfinding (from IMapNeighbors)
• isValid(const Coordinate<T>& coord): Check if a coordinate is inside the map (from IMapNeighbors)
• getCell(int x, int y, CellState& state): Get cell state by index
• toWorld(int x, int y): Convert cell indices to world coordinates

Member Function Documentation

getCell()

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

pure virtual

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.

Implemented in GridBitMap< T >, GridMap< StateT, T >, and CallbackMap< T >.

getResolution()

virtual float getResolution ( ) const

pure virtual

Get the map resolution (cell size in meters).

Implemented in GridBitMap< T >, GridMap< StateT, T >, and CallbackMap< T >.

getXCount()

virtual int getXCount ( ) const

pure virtual

Get the number of cells in the X direction.

Implemented in GridBitMap< T >, GridMap< StateT, T >, and CallbackMap< T >.

getYCount()

virtual int getYCount ( ) const

pure virtual

Get the number of cells in the Y direction.

Implemented in GridBitMap< T >, GridMap< StateT, T >, and CallbackMap< T >.

toWorld()

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

pure virtual

Convert cell indices to world coordinates.

Parameters

x	Cell X index
y	Cell Y index

Returns

World coordinate of the cell center.

Implemented in GridMap< StateT, T >, GridBitMap< T >, and CallbackMap< T >.

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

• src/TinyRobotics/maps/IMap.h