Perception Tool Kit (PTK) API Guide
map.h File Reference

Introduction

A map is a aggregate of multiple grid structures storing different types of summary info about the environment, intended to simplify keeping track of all of them together.

Include dependency graph for map.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  PTK_GridInfo
 Grid information. More...
 
struct  PTK_MapConfig
 Map configuration. More...
 
struct  PTK_Map
 Map definition. More...
 

Macros

#define PTK_MAP_H
 
#define PTK_MAP_MAX_NUM_GRIDS_PER_MAP   32U
 Maximum number of grids per Map - 1. One of the nodes will be used as a NULL node. More...
 
#define PTK_MAP_OK   ((uint32_t)0)
 Error codes. More...
 
#define PTK_MAP_XCELL_COUNT_INVALID   ((uint32_t)-1)
 Invalid X cell count. More...
 
#define PTK_MAP_YCELL_COUNT_INVALID   ((uint32_t)-2)
 Invalid Y cell count. More...
 
#define PTK_MAP_ZCELL_COUNT_INVALID   ((uint32_t)-3)
 Invalid Z cell count. More...
 
#define PTK_MAP_GRID_ID_INVALID   ((uint32_t)-4)
 Invalid grid ID. More...
 
#define PTK_MAP_GRID_DATA_TYPE_INVALID   ((uint32_t)-5)
 Invalid grid data type. More...
 
#define PTK_MAP_CELL_DATA_SIZE_INVALID   ((uint32_t)-6)
 Invalid grid element data size. More...
 

Functions

uint32_t PTK_Map_getSize (const PTK_MapConfig *config)
 Compute how much memory is required to store the complete PTK_Map described by the given configuration. More...
 
PTK_MapPTK_Map_init (uint8_t *mem, const PTK_MapConfig *config)
 Initialize an externally allocated piece of memory to be a valid PTK_Map. This also initializes all member PTK_Grids, so no further initialization is required. More...
 
void PTK_Map_clear (PTK_Map *map)
 This clears all PTK_Grids internal to the map. It has the same result as if PTK_Grid clear were called on each individually. More...
 
uint32_t PTK_Map_copy (PTK_Map *__restrict dst, const PTK_Map *__restrict src)
 Copy all constituent PTK_Grids from the given source PTK_Map to the destination PTK_Map. They must have the same PTK_MapConfig or an assertion failure is generated. More...
 
uint32_t PTK_Map_has (const PTK_Map *map, uint32_t id)
 Test if a PTK_Map contains a PTK_Grid with the specified id. More...
 
PTK_GridPTK_Map_get (const PTK_Map *map, uint32_t id)
 Obtain a pointer to the PTK_Grid matching the specified id. More...
 

Macro Definition Documentation

◆ PTK_MAP_H

#define PTK_MAP_H

◆ PTK_MAP_MAX_NUM_GRIDS_PER_MAP

#define PTK_MAP_MAX_NUM_GRIDS_PER_MAP   32U

Maximum number of grids per Map - 1. One of the nodes will be used as a NULL node.