The 2D gridmap builder class. More...

#include <slamtec_remote_public.hxx>

Inheritance diagram for rp::standalone::aurora::LIDAR2DMapBuilder:

Public Member Functions
std::tuple< float, float >	getSupportedResolutionRange () const
	Get the supported resolution range of the 2D gridmap. More...

size_t	getMaxGridCellCount () const

bool	requireRedrawPreviewMap ()
	Require the preview map to be redrawn. More...

bool	startPreviewMapBackgroundUpdate (const LIDAR2DGridMapGenerationOptions &options)
	Start the preview map background update. More...

void	stopPreviewMapBackgroundUpdate ()
	Stop the preview map background update.

bool	isPreviewMapBackgroundUpdateActive () const
	Check if the preview map background update is active. More...

void	getAndResetPreviewMapDirtyRect (slamtec_aurora_sdk_rect_t &rectOut, bool &mapBigChange)
	Get the dirty rectangle of the preview map and reset the dirty rectangle. More...

void	getPreviewMapGenerationOptions (LIDAR2DGridMapGenerationOptions &optionsOut) const
	Get the generation options of the preview map. More...

void	setPreviewMapAutoFloorDetection (bool enable)
	Set the auto floor detection for the preview map. More...

bool	isPreviewMapAutoFloorDetectionEnabled () const
	Check if the auto floor detection is enabled for the preview map. More...

const OccupancyGridMap2DRef &	getPreviewMap () const
	Get the preview map to access the map data. More...

std::shared_ptr< OccupancyGridMap2DRef >	generateFullMap (const LIDAR2DGridMapGenerationOptions &options, bool waitForDataSync=true, uint64_t timeout_ms=30000)
	Generate the full map. More...

Protected Member Functions
	LIDAR2DMapBuilder (slamtec_aurora_sdk_session_handle_t &sdk)

Protected Member Functions inherited from rp::standalone::aurora::Noncopyable
	Noncopyable (const Noncopyable &)=delete

Noncopyable &	operator= (const Noncopyable &)=delete

	Noncopyable (Noncopyable &&)=default

Noncopyable &	operator= (Noncopyable &&)=default

Protected Attributes
OccupancyGridMap2DRef	_cachedPreviewMap

slamtec_aurora_sdk_session_handle_t	_sdk

Friends
class	RemoteSDK

Detailed Description

The 2D gridmap builder class.

This class is used to build a 2D gridmap. 2

Member Function Documentation

◆ generateFullMap()

std::shared_ptr<OccupancyGridMap2DRef> rp::standalone::aurora::LIDAR2DMapBuilder::generateFullMap	(	const LIDAR2DGridMapGenerationOptions &	options,
		bool	waitForDataSync = `true`,
		uint64_t	timeout_ms = `30000`
	)

inline

Generate the full map.

Caller can use this function to generate the full map on demand and return the handle of the generated map.

The caller thread will be blocked until the map is generated or the timeout occurs.

Parameters

[in]	options	The generation options of the full map
[in]	waitForDataSync	Whether to wait for the data sync to complete
[in]	timeout_ms	The timeout in milliseconds

Returns: The full map

◆ getAndResetPreviewMapDirtyRect()

void rp::standalone::aurora::LIDAR2DMapBuilder::getAndResetPreviewMapDirtyRect	(	slamtec_aurora_sdk_rect_t &	rectOut,
		bool &	mapBigChange
	)

inline

Get the dirty rectangle of the preview map and reset the dirty rectangle.

Parameters

[out]	rectOut	The dirty rectangle of the preview map
[out]	mapBigChange	the map big change flag will be stored in this pointer. If there is a big change, the map will be redrawn and this flag will be set to true. It commonly happens when there is a loop closure or a new map has been loaded.

◆ getMaxGridCellCount()

size_t rp::standalone::aurora::LIDAR2DMapBuilder::getMaxGridCellCount ( ) const

inline

@brief Get the maximum grid cell count of the 2D gridmap
@details Caller can use this function to get the supported maximum grid cell count. Each cell is stored as a byte.

For example, for a map with 100 meters width and 100 meters height, if the resolution is 0.1 meter, the maximum cell count will be (100/0.1) * (100/0.1) = 1,000,000 .

If the cell count is larger than the supported maximum, the map will not be generated.

Returns: The maximum grid cell count of the 2D gridmap

◆ getPreviewMap()

const OccupancyGridMap2DRef& rp::standalone::aurora::LIDAR2DMapBuilder::getPreviewMap ( ) const

inline

Get the preview map to access the map data.

Returns: The preview map

◆ getPreviewMapGenerationOptions()

void rp::standalone::aurora::LIDAR2DMapBuilder::getPreviewMapGenerationOptions ( LIDAR2DGridMapGenerationOptions & optionsOut ) const

inline

Get the generation options of the preview map.

Caller can use this function to get the current generation options of the LIDAR 2D preview map.

If the auto floor detection is enabled, caller can use this function to get the current height range used to generate the preview map.

Parameters

[out] optionsOut The generation options of the preview map

Returns: The error code

◆ getSupportedResolutionRange()

std::tuple<float, float> rp::standalone::aurora::LIDAR2DMapBuilder::getSupportedResolutionRange ( ) const

inline

Get the supported resolution range of the 2D gridmap.

Returns: The supported resolution range of the 2D gridmap [min, max]

◆ isPreviewMapAutoFloorDetectionEnabled()

bool rp::standalone::aurora::LIDAR2DMapBuilder::isPreviewMapAutoFloorDetectionEnabled ( ) const

inline

Check if the auto floor detection is enabled for the preview map.

Returns: True if the auto floor detection is enabled, false otherwise

◆ isPreviewMapBackgroundUpdateActive()

bool rp::standalone::aurora::LIDAR2DMapBuilder::isPreviewMapBackgroundUpdateActive ( ) const

inline

Check if the preview map background update is active.

Returns: True if the preview map background update is active, false otherwise

◆ requireRedrawPreviewMap()

bool rp::standalone::aurora::LIDAR2DMapBuilder::requireRedrawPreviewMap ( )

inline

Require the preview map to be redrawn.

The request will be queued and processed by the background thread.

Returns: True if the preview map is redrawn requested successfully, false otherwise

◆ setPreviewMapAutoFloorDetection()

void rp::standalone::aurora::LIDAR2DMapBuilder::setPreviewMapAutoFloorDetection ( bool enable )

inline

Set the auto floor detection for the preview map.

Caller can use this function to set the auto floor detection for the LIDAR 2D preview map.

If the auto floor detection is enabled, the detector will update the height range used to generate the preview map.

The height range is based on the current floor description.

Auto floor detection is useful for multiple floor scenarios.

Parameters

[in] enable Whether to enable the auto floor detection

◆ startPreviewMapBackgroundUpdate()

bool rp::standalone::aurora::LIDAR2DMapBuilder::startPreviewMapBackgroundUpdate ( const LIDAR2DGridMapGenerationOptions & options )

inline

Start the preview map background update.

Parameters

[in] options The generation options of the preview map

Returns: True if the preview map background update is started successfully, false otherwise

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

inc/cxx/slamtec_remote_public.hxx

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ generateFullMap()

◆ getAndResetPreviewMapDirtyRect()

◆ getMaxGridCellCount()

◆ getPreviewMap()

◆ getPreviewMapGenerationOptions()

◆ getSupportedResolutionRange()

◆ isPreviewMapAutoFloorDetectionEnabled()

◆ isPreviewMapBackgroundUpdateActive()

◆ requireRedrawPreviewMap()

◆ setPreviewMapAutoFloorDetection()

◆ startPreviewMapBackgroundUpdate()