struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList

The structure used to store the set of Voronoi diagram critical points.

See also:

findCriticalPoints

#include <mrpt/maps/COccupancyGridMap2D.h>

struct TCriticalPointsList
{
    //
fields

    std::vector<int> x;
    std::vector<int> y;
    std::vector<int> clearance;
    std::vector<int> x_basis1;
    std::vector<int> y_basis1;
    std::vector<int> x_basis2;
    std::vector<int> y_basis2;

    // construction

    TCriticalPointsList();
};

Fields

std::vector<int> x

The coordinates of critical point.

std::vector<int> clearance

The clearance of critical points, in 1/100 of cells.

std::vector<int> x_basis1

Their two first basis points coordinates.