struct mrpt::maps::COccupancyGridMap2D::ClearanceResult

Overview

Result struct for computeClearance(int,int,bool).

#include <mrpt/maps/COccupancyGridMap2D.h>

struct ClearanceResult
{
    // fields

    int clearance {0};
    int nBasis {0};
    std::array<int, 2> basisX {};
    std::array<int, 2> basisY {};
};

Fields

int clearance {0}

The clearance in 1/100 of cell units (0 if cell is occupied or OOB).

int nBasis {0}

Number of found basis points (0, 1, or 2).

std::array<int, 2> basisX {}

Coordinates of the (up to 2) basis (closest obstacle) cells.