rp::standalone::aurora::OccupancyGridMap2DRef Class Reference

The 2D gridmap reference class wraps the 2D gridmap handle. More...

#include <slamtec_remote_public.hxx>

Inheritance diagram for rp::standalone::aurora::OccupancyGridMap2DRef:

Public Member Functions
	OccupancyGridMap2DRef (const slamtec_aurora_sdk_occupancy_grid_2d_handle_t handle, bool ownBuffer)
float	getResolution () const
	Get the resolution of the 2D gridmap. More...
void	getMapDimension (slamtec_aurora_sdk_2dmap_dimension_t &dimensionOut) const
	Get the dimension of the 2D gridmap. More...
void	getMaxMapCapacityDimension (slamtec_aurora_sdk_2dmap_dimension_t &dimensionOut) const
	Get the maximum capacity dimension of the 2D gridmap. More...
bool	readCellData (const slamtec_aurora_sdk_rect_t &rect, slamtec_aurora_sdk_2d_gridmap_fetch_info_t &fetchInfoOut, std::vector< uint8_t > &dataOut, bool l2pMapping=true) const
	Read the cell data of the 2D gridmap. More...
bool	readCellData (const slamtec_aurora_sdk_rect_t &rect, slamtec_aurora_sdk_2d_gridmap_fetch_info_t &fetchInfoOut, uint8_t *dataBuffer, size_t dataBufferSize, bool l2pMapping=true) const
	Read the cell data of the 2D gridmap. More...
slamtec_aurora_sdk_occupancy_grid_2d_handle_t	getHandle () const
	Get the handle of the 2D gridmap. More...

Protected Attributes
slamtec_aurora_sdk_occupancy_grid_2d_handle_t	_handle
bool	_ownBuffer

Friends
class	LIDAR2DMapBuilder

Additional Inherited Members
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

Detailed Description

The 2D gridmap reference class wraps the 2D gridmap handle.

This class is used to access a 2D gridmap data. 2

Member Function Documentation

getHandle()

slamtec_aurora_sdk_occupancy_grid_2d_handle_t rp::standalone::aurora::OccupancyGridMap2DRef::getHandle ( ) const

inline

Get the handle of the 2D gridmap.

Returns

The handle of the 2D gridmap

getMapDimension()

void rp::standalone::aurora::OccupancyGridMap2DRef::getMapDimension ( slamtec_aurora_sdk_2dmap_dimension_t &  dimensionOut ) const

inline

Get the dimension of the 2D gridmap.

Parameters

[out]

dimensionOut

The dimension of the 2D gridmap

getMaxMapCapacityDimension()

void rp::standalone::aurora::OccupancyGridMap2DRef::getMaxMapCapacityDimension ( slamtec_aurora_sdk_2dmap_dimension_t &  dimensionOut ) const

inline

Get the maximum capacity dimension of the 2D gridmap.

Parameters

[out]

dimensionOut

The maximum capacity dimension of the 2D gridmap

getResolution()

float rp::standalone::aurora::OccupancyGridMap2DRef::getResolution ( ) const

inline

Get the resolution of the 2D gridmap.

Returns

The resolution of the 2D gridmap

readCellData() [1/2]

bool rp::standalone::aurora::OccupancyGridMap2DRef::readCellData ( const slamtec_aurora_sdk_rect_t &  rect, slamtec_aurora_sdk_2d_gridmap_fetch_info_t &  fetchInfoOut, std::vector< uint8_t > &  dataOut, bool  l2pMapping = true  ) const

inline

Read the cell data of the 2D gridmap.

Parameters

[in]	rect	The rectangle area to read
[out]	fetchInfoOut	The fetch info of the actual area of the cell data
[out]	dataOut	The data of the cell
[in]	l2pMapping	Whether to perform log odd to logic (0-255) mapping to each cell. For visualization purpose, set to true.

Returns

True if the cell data is read successfully, false otherwise

readCellData() [2/2]

bool rp::standalone::aurora::OccupancyGridMap2DRef::readCellData ( const slamtec_aurora_sdk_rect_t &  rect, slamtec_aurora_sdk_2d_gridmap_fetch_info_t &  fetchInfoOut, uint8_t *  dataBuffer, size_t  dataBufferSize, bool  l2pMapping = true  ) const

inline

Read the cell data of the 2D gridmap.

Parameters

[in]	rect	The rectangle area to read
[out]	fetchInfoOut	The fetch info of the actual area of the cell data
[out]	dataBuffer	The buffer to store the cell data, set to nullptr to only get the fetch info
[in]	dataBufferSize	The size of the buffer, set to 0 to only get the fetch info
[in]	l2pMapping	Whether to perform log odd to logic (0-255) mapping to each cell. For visualization purpose, set to true.

Returns

True if the cell data is read successfully, false otherwise

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

• inc/cxx/slamtec_remote_public.hxx