Templated class which represents a n-dimensional grid map. Its cells are assumed to be cubic, that is, the size (leaf size) of each cell is the same in every dimension. More...

#include <ndgridmap.hpp>

Public Member Functions
	nDGridMap (const std::array< unsigned int, ndims > &dimsize, double leafsize=1.0f)

void	resize (const std::array< unsigned int, ndims > &dimsize)
	Resizes each dimension of the grid according dimsize.

T &	operator[] (unsigned int idx)
	Returns the cell with index idx.

double	getLeafSize () const
	Returns the leaf size of the grid.

void	setLeafSize (const double leafsize)

T &	getCell (unsigned int idx)
	Returns the cell with index idx.

std::array< unsigned int, ndims >	getDimSizes () const
	Returns the size of each dimension.

double	getMinValueInDim (unsigned int idx, unsigned int dim)
	Returns the minimum value of neighbors of cell idx in dimension dim.

unsigned int	getNumberNeighborsInDim (int idx, std::array< unsigned int, ndims > &m, unsigned int dim)
	Returns number of valid neighbors for cell idx in dimension dim, stored in m.

unsigned int	getNeighbors (unsigned int idx, std::array< unsigned int, 2 *ndims > &neighs)
	Computes the indices of the 4-connectivity neighbors. As it is based on arrays (to improve performance) the number of neighbors found is returned since the neighs array will have always the same size.

void	getNeighborsInDim (unsigned int idx, std::array< unsigned int, 2 *ndims > &neighs, unsigned int dim)
	Computes the indices of the 4-connectivity neighbors of cell idx in a specified direction dim. This function is designed to be used within getNeighbors() or getMinValueInDim() since it increments the private member n_neighs and it is only reset in those functions.

void	getNeighborsInDim (unsigned int idx, std::array< unsigned int, 2 > &neighs, unsigned int dim)
	Special version (because of neighbors array size) of this function to be used with getMinValueInDim().

unsigned int	idx2coord (unsigned int idx, std::array< unsigned int, ndims > &coords)
	Transforms from index to coordinates.

unsigned int	coord2idx (const std::array< unsigned int, ndims > &coords, unsigned int &idx)
	Transforms from coordinates to index.

void	showCoords (unsigned int idx)
	Shows the coordinates from an index.

void	showCoords (std::array< unsigned int, ndims > coords)
	Shows the coordinates from a set of coordinates.

void	showIdx (const std::array< unsigned int, ndims > &coords)
	Shows the index from the coordinates.

unsigned int	size () const
	Returns number of cells in the grid.

double	getMaxValue () const
	Returns the maximum value of the cells in the grid.

bool	isClean () const
	Returns if the grid is clean (ready to use)

void	setClean (bool c)
	Sets the state of the grid. True means clean.

void	clean ()
	Cleans the grid if it is not clean already. Calls Cell::setDefault()

void	clear ()
	Erases the content of the grid. Must be resized later.

std::string	getDimSizesStr ()
	Returns "size(dim(0)) \t size(dim(1)) \t...".

void	setOccupiedCells (const std::vector< unsigned int > &obs)
	Sets the cells which are occupied. Usually called by grid loaders.

void	setOccupiedCells (std::vector< unsigned int > &&obs)
	Sets (by move semantics) the cells which are occupied. Usually called by grid loaders.

void	getOccupiedCells (std::vector< unsigned int > &obs) const
	Returns the indices of the occupied cells of the grid.

double	getAvgSpeed ()
	Returns the avegare velocity ignoring those with 0 velocitie (obstacles).

double	getMaxSpeed ()
	Returns the maximum speed (occupancy value) in the grid.

Static Public Member Functions
static constexpr size_t	getNDims ()
	Makes the number of dimensions of the grid available at compilation time.

Private Attributes
std::vector< T >	cells_
	Main container for the class.

std::array< unsigned int, ndims >	dimsize_
	Size of each dimension.

double	leafsize_
	Real size of the cells. It is assumed that the cells in the grid are cubic.

unsigned int	ncells_
	Number of cells in the grid (size)

bool	clean_
	Flag to indicate if the grid is ready to use.

std::array< unsigned int, ndims >	d_
	Auxiliar array to speed up neighbor and indexing generalization: stores parcial multiplications of dimensions sizes. d_[0] = dimsize_[0]; d_[1] = dimsize_[0]*dimsize_[1]; etc.

std::array< unsigned int, 2 >	n_
	Auxiliar array to speed up neighbor and indexing generalization: for getMinValueInDim() function.

unsigned int	n_neighs
	Internal variable that counts the number of neighbors found in every iteration. Modified by getNeighbours(), getNeighborsInDim() and getMinValueInDim() functions.

std::vector< unsigned int >	occupied_
	Caches the occupied cells (obstacles).

Friends
std::ostream &	operator<< (std::ostream &os, nDGridMap< T, ndims > &g)

Detailed Description

template<class T, size_t ndims>
class nDGridMap< T, ndims >

Todo:

Neighbors precomputation could speed things up.

Improve coord2idx function in order to just pass n coordinates and not an array.

Create d_ with 1 and d_[1] size of X, d_[2] size of Y, etc, to generalize dimensions.

Based on a flat array in which the generalized indexing operations are efficiently implemented, according to this document nDGridMaps It is important to read this document in order to understand the class.

It has 2 template parameters: - the cells employed, should be Cell class or inherited.

number of dimensions of the grid. Helps compiler to optimize.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition at line 47 of file ndgridmap.hpp.

Constructor & Destructor Documentation

template<class T, size_t ndims>

nDGridMap< T, ndims >::nDGridMap	(	const std::array< unsigned int, ndims > &	dimsize,
		double	leafsize = `1.0f`
	)

inline

Parameters

dimsize	constains the size of each dimension.
leafsize	real cell size (assumed to be cubic). 1 unit by default.

Definition at line 70 of file ndgridmap.hpp.

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

/home/jvgomez/Desktop/fastmarching/include/fast_methods/ndgridmap/ndgridmap.hpp

Public Member Functions

Static Public Member Functions

Private Attributes

Friends

Detailed Description

template<class T, size_t ndims> class nDGridMap< T, ndims >

Constructor & Destructor Documentation

template<class T, size_t ndims>
class nDGridMap< T, ndims >