Map class describes static environment. More...

#include <Map.h>

Public Member Functions
bool	CellIsObstacle (int i, int j) const
	Check Cell (i,j) is obstacle. More...

bool	CellIsTraversable (int i, int j) const
	Check Cell (i,j) is traversable. More...

bool	CellOnGrid (int i, int j) const
	Check Cell (i,j) is inside grid. More...

float	GetCellSize () const
	Return size of cell side. More...

Node	GetClosestNode (const Point &point) const
	Return cell to which point in orthogonal coordinates belong. More...

unsigned int	GetHeight () const
	Return height of grid. More...

const std::vector< std::vector< ObstacleSegment > > &	GetObstacles () const
	Return obstacles in form of polygons. More...

Point	GetPoint (const Node &node) const
	Return center of grid cell in orthogonal coordinates. More...

unsigned int	GetWidth () const
	Return width of grid. More...

	Map ()
	Map default constructor. More...

	Map (float cellSize, std::vector< std::vector< int >> &grid, std::vector< std::vector< Point >> &obstacles)
	Map constructor with parameters. More...

	Map (const Map &obj)
	Map copy constructor. More...

Map &	operator= (const Map &obj)
	Assignment operator. More...

	~Map ()
	Map destructor. More...

Detailed Description

Map class describes static environment.

This class contains main information about static environment. The map is set in the form of a grid, are also described in the form of polygons. The grid is a rectangular matrix of square cells, each cell can be traversable or not. The size of cell side is set by the value of cellSize. The address of each cell on the grid is specified by a pair (i, j), where i is the row number of the matrix, j is the column number of the matrix The environment description is specified in the orthogonal coordinates. Every obstacle in form of polygon is vector of points in orthogonal coordinates. Vertices of the simple obstacle shold be listed in counterclockwise order, vertices of boundary in clockwise order. An illustration of the environment is presented in the figure below.

Definition at line 36 of file Map.h.

Constructor & Destructor Documentation

Map::Map ( )

Map default constructor.

Definition at line 9 of file Map.cpp.

Map::Map	(	float	cellSize,
		std::vector< std::vector< int >> &	grid,
		std::vector< std::vector< Point >> &	obstacles
	)

Map constructor with parameters.

Parameters

cellSize	Size of cell side.
grid	Matrix of traversability of environment. Every cell can be 0 (traversable) or 1 (obstacle).
obstacles	Vector of obstacles in form of polygons. Every obstacle is vector of points in orthogonal coordinates. Vertices of the simple obstacle shold be listed in counterclockwise order, vertices of boundary in clockwise order.

Definition at line 19 of file Map.cpp.

Map::Map ( const Map & obj )

Map copy constructor.

Parameters

obj	Object to copy.

Definition at line 77 of file Map.cpp.

Map::~Map ( )

Map destructor.

Definition at line 87 of file Map.cpp.

Member Function Documentation

bool Map::CellIsObstacle	(	int	i,
		int	j
	)		const

Check Cell (i,j) is obstacle.

Parameters

i	Row number in the matrix.
j	Column number in the matrix

Returns: True if obstacle, otherwise false.

Definition at line 103 of file Map.cpp.

bool Map::CellIsTraversable	(	int	i,
		int	j
	)		const

Check Cell (i,j) is traversable.

Parameters

i	Row number in the matrix.
j	Column number in the matrix

Returns: False if obstacle, otherwise true.

Definition at line 109 of file Map.cpp.

bool Map::CellOnGrid	(	int	i,
		int	j
	)		const

Check Cell (i,j) is inside grid.

Parameters

i	Row number in the matrix.
j	Column number in the matrix

Returns: True if inside grid, otherwise false.

Definition at line 115 of file Map.cpp.

float Map::GetCellSize ( ) const

Return size of cell side.

Returns: Size of cell side.

Definition at line 133 of file Map.cpp.

Node Map::GetClosestNode ( const Point & point ) const

Return cell to which point in orthogonal coordinates belong.

Parameters

point Point in orthogonal coordinates .

Returns: Cell of grid matrix.

Definition at line 139 of file Map.cpp.

unsigned int Map::GetHeight ( ) const

Return height of grid.

Returns: Number of rows in grid matrix

Definition at line 121 of file Map.cpp.

const std::vector< std::vector< ObstacleSegment > > & Map::GetObstacles ( ) const

Return obstacles in form of polygons.

Returns: Vector of polygons.

Definition at line 171 of file Map.cpp.

Point Map::GetPoint ( const Node & node ) const

Return center of grid cell in orthogonal coordinates.

Parameters

node	Grid cell.

Returns: Position of grid cell center in orthogonal coordinates.

Definition at line 166 of file Map.cpp.

unsigned int Map::GetWidth ( ) const

Return width of grid.

Returns: Number of columns in grid matrix

Definition at line 127 of file Map.cpp.

Map & Map::operator= ( const Map & obj )

Assignment operator.

Parameters

obj	Map to assignment.

Returns: Reference to map.

Definition at line 176 of file Map.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation