C++ (Cpp) GridMap::getIndex Examples

Example #1

File: LineIterator.cpp Project: ethz-asl/grid_map

bool LineIterator::getIndexLimitedToMapRange(const grid_map::GridMap& gridMap,
                                             const Position& start, const Position& end,
                                             Index& index)
{
  Position newStart = start;
  Vector direction = (end - start).normalized();
  while (!gridMap.getIndex(newStart, index)) {
    newStart += (gridMap.getResolution() - std::numeric_limits<double>::epsilon()) * direction;
    if ((end - newStart).norm() < gridMap.getResolution() - std::numeric_limits<double>::epsilon())
      return false;
  }
  return true;
}

Example #2

File: SpiralIterator.cpp Project: DHaylock/grid_map

SpiralIterator::SpiralIterator(const grid_map::GridMap& gridMap, const Eigen::Vector2d& center,
                               const double radius)
    : center_(center),
      radius_(radius),
      distance_(0)
{
  radiusSquare_ = radius_ * radius_;
  mapLength_ = gridMap.getLength();
  mapPosition_ = gridMap.getPosition();
  resolution_ = gridMap.getResolution();
  bufferSize_ = gridMap.getSize();
  gridMap.getIndex(center_, indexCenter_);
  nRings_ = std::ceil(radius_ / resolution_);
  if (checkIfIndexWithinRange(indexCenter_, bufferSize_)) pointsRing_.push_back(indexCenter_);
  else generateRing();
}