Classes
struct	LineSegment

Public Member Functions
	VectorMap (const char *_mapsFolder)

	VectorMap (const char name, const char _mapsFolder, bool usePreRender)

vector< LineSegment >	sortLineSegments (vector2f &loc, vector< line2f > &lines)

int	getLineCorrespondence (vector2f loc, float angle, float minRange, float maxRange, const std::vector< int > &visibilityList)
	Get line which intersects first the given ray first.

vector< int >	getRayToLineCorrespondences (vector2f loc, float angle, float a0, float a1, const std::vector< vector2f > pointCloud, float minRange, float maxRange, bool analytical=false, vector< line2f > *lines=0)
	Get lines (for each ray) which intersect first the rays starting at angles a0 to a1, at increments of da.

vector< int >	getRayToLineCorrespondences (vector2f loc, float a0, float a1, float da, float minRange, float maxRange)
	Convenience function: same as previous, but specified by center angle, angle increment (da), and numRays to scan.

vector< int >	getRayToLineCorrespondences (vector2f loc, float angle, float da, int numRays, float minRange, float maxRange, bool analytical=false, vector< line2f > *lines=0)
	Return intersecting map lines for each ray generated from the provided point cloud (which is assumed to be in local frame)

vector< float >	getRayCast (vector2f loc, float angle, float da, int numRays, float minRange, float maxRange)
	Get ray cast from vector map at given location and angle, as specified by center angle, angle increment (da), and numRays to scan.

void	trimOcclusion (vector2f &loc, line2f &line1, line2f &line2, vector< line2f > &sceneLines)
	Checks if any part of line2 is occluded by line1 when seen from loc, and if so, line2 is trimmed accordingly, adding sub-lines to sceneLines if necessary.

void	trimOcclusion2 (vector2f &loc_g, line2f &line1, line2f &line2, vector< line2f > &sceneLines)

vector< int >	getSceneLines (vector2f loc, float maxRange)
	Get a set of lines which are visible from loc.

bool	loadMap (const char *name, bool usePreRender)
	Load map by name.

vector< int > *	getVisibilityList (float x, float y)
	Get Visibility list for specified location.

vector< int > *	getVisibilityList (vector2f loc)

vector< line2f >	sceneRender (vector2f loc, float a0=0.0, float a1=M_2PI)
	Perform an analytical scene render. i.e. Generate a list of lines visible from loc, and the start and end angles subtended by them.

Public Attributes
vector< line2f >	lines

double	vectorScale

double	vectorOriginX

double	vectorOriginY

double	vectorRotation

bool	vectorFlipY

string	mapName

string	mapsFolder

float	minX
	Map Extents.

float	minY

float	maxX

float	maxY

double	visListResolution
	number of meters per cell in visibilityList array

unsigned int	visListWidth
	size of the visibilityList array

unsigned int	visListHeight

bool	preRenderExists

double	profileTimes [100]

Detailed Description

Definition at line 39 of file vector_map.h.

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

src/map/vector_map.h
src/map/vector_map.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description