struct mrpt::nav::CPTG_DiffDrive_CollisionGridBased::FlatCollisionGrid

Overview

Read-only flattened copy of m_collisionGrid for updateTPObstacles() : the (k, d) entries of all cells in one array, cell i owning entries[offsets[i]] .

. entries[offsets[i+1]-1] (CSR layout). Empty until the PTG is initialized.

#include <mrpt/nav/tpspace/CPTG_DiffDrive_CollisionGridBased.h>

struct FlatCollisionGrid
{
    // fields

    std::vector<uint32_t> offsets;
    std::vector<std::pair<uint16_t, float>> entries;
    double x_min = 0;
    double y_min = 0;
    double resolution = 1;
    int size_x = 0;
    int size_y = 0;
    double max_radius_sq = 0;
};

Fields

double max_radius_sq = 0

Squared distance from the origin beyond which no cell has entries.