mira::maps::polygon Namespace Reference

Classes
class	TransformToMapFunctor
	Functor to rotate, shift and transform a point to map coordinates This functor stores cos and sin of the provided rotation. More...

Functions
template<class Celltype >
Celltype	getMaximum (const maps::GridMap< Celltype > &map, const Polygon2f &polygon, const Pose2 &polygonPose, uint8 precision=1)
	Function for finding the maximum value of cells that have an overlap with the rasterization of a polygon at certain pose. More...
template<class Celltype >
Celltype	getMaximum (const maps::GridMap< Celltype > &map, const std::vector< Polygon2f > &polygons, const Pose2 &polygonPose, uint8 precision=1)
	Function for finding the maximum value of cells that have an overlap with one of the polygons at the provided pose. More...
template<class Celltype >
void	fill (maps::GridMap< Celltype > &map, const Polygon2f &polygon, const Pose2 &polygonPose, const Celltype fillValue, uint8 precision=1)
	Function for filling cells that overlap with the polygon at the provided pose. More...
template<class Celltype >
void	fill (maps::GridMap< Celltype > &map, const std::vector< Polygon2f > &polygons, const Pose2 &polygonPose, const Celltype fillValue, uint8 precision=1)
	Function for filling cells that overlap with one of the polygons at the provided pose. More...

Function Documentation

getMaximum() [1/2]

Celltype mira::maps::polygon::getMaximum	(	const maps::GridMap< Celltype > &	map,
		const Polygon2f &	polygon,
		const Pose2 &	polygonPose,
		uint8	precision = 1
	)

Function for finding the maximum value of cells that have an overlap with the rasterization of a polygon at certain pose.

Parameters

[in]	map	: the grid to be searched
[in]	polygon	: the shape to be rasterized
[in]	polygonPose	: position of the polygon in world coordinates
[in]	precision	: how fine the polygon is supposed to be rasterized

getMaximum() [2/2]

Celltype mira::maps::polygon::getMaximum	(	const maps::GridMap< Celltype > &	map,
		const std::vector< Polygon2f > &	polygons,
		const Pose2 &	polygonPose,
		uint8	precision = 1
	)

Function for finding the maximum value of cells that have an overlap with one of the polygons at the provided pose.

Parameters

[in]	map	: the grid to be searched
[in]	polygons	: the shapes to be rasterized
[in]	polygonPose	: position of the polygons in world coordinates
[in]	precision	: how fine the polygons are supposed to be rasterized

fill() [1/2]

void mira::maps::polygon::fill	(	maps::GridMap< Celltype > &	map,
		const Polygon2f &	polygon,
		const Pose2 &	polygonPose,
		const Celltype	fillValue,
		uint8	precision = 1
	)

Function for filling cells that overlap with the polygon at the provided pose.

Parameters

[in]	map	: the grid to be searched
[in]	polygon	: the shape to be filled
[in]	polygonPose	: position of the polygon in world coordinates
[in]	fillValue	: value with which overlapping cells are filled
[in]	precision	: how fine the polygon is supposed to be rasterized

fill() [2/2]

void mira::maps::polygon::fill	(	maps::GridMap< Celltype > &	map,
		const std::vector< Polygon2f > &	polygons,
		const Pose2 &	polygonPose,
		const Celltype	fillValue,
		uint8	precision = 1
	)

Function for filling cells that overlap with one of the polygons at the provided pose.

Parameters

[in]	map	: the grid to be searched
[in]	polygons	: the shapes to be filled
[in]	polygonPose	: position of the polygons in world coordinates
[in]	fillValue	: value with which overlapping cells are filled
[in]	precision	: how fine the polygons are supposed to be rasterized