Iterators.hpp File Reference

Traversals over the NavCels of a navmap::NavMap: box, disc, ring, polygon, distance order and segment walk. More...

#include <algorithm>
#include <array>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <functional>
#include <limits>
#include <type_traits>
#include <utility>
#include <vector>
#include "Eigen/Core"
#include "navmap_core/NavMap.hpp"

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Classes
struct	TraversalScratch::Front
	Dijkstra frontier entry: distance, NavCel, and the pivot it is measured from. More...
class	TraversalScratch
	Reusable traversal buffers. Not thread-safe: one per thread. More...

Namespaces
namespace	navmap
namespace	navmap::detail

Enumerations
enum class	Metric { EUCLIDEAN , GEODESIC }
	Distance from a centre used to grow a region. More...

Functions
bool	boxes_overlap (const AABB &a, const AABB &b)
template<class F>
std::size_t	for_each_by_distance (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &center, float max_distance, F &&f, TraversalScratch *scratch=nullptr)
	Visits NavCels by geodesic distance from center, up to max_distance: a spiral over the surface (nearest free cell, local search...).
template<class F>
std::size_t	for_each_in_aabb (const NavMap &nm, const AABB &box, F &&f, TraversalScratch *scratch=nullptr)
	Visits the NavCels whose bounding box overlaps box, on every surface (via the BVH).
template<class F>
std::size_t	for_each_in_disc (const NavMap &nm, const Eigen::Vector3f &center, float radius, F &&f, Metric metric=Metric::EUCLIDEAN, TraversalScratch *scratch=nullptr)
	As above, locating the seed under center; visits nothing if the centre is off the map.
template<class F>
std::size_t	for_each_in_disc (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &center, float radius, F &&f, Metric metric=Metric::EUCLIDEAN, TraversalScratch *scratch=nullptr)
	Visits the NavCels within radius of center, connected to seed (which should contain the centre).
template<class F>
std::size_t	for_each_in_polygon (const NavMap &nm, const Eigen::Vector3f &on_surface, const std::vector< Eigen::Vector2f > &poly, F &&f, TraversalScratch *scratch=nullptr)
	As above, locating the seed under on_surface (a point of the polygon's level).
template<class F>
std::size_t	for_each_in_polygon (const NavMap &nm, NavCelId seed, const std::vector< Eigen::Vector2f > &poly, F &&f, TraversalScratch *scratch=nullptr)
	Visits the NavCels whose centroid lies inside the XY polygon poly, connected to seed through NavCels inside it (so only the seed's level).
template<class F>
std::size_t	for_each_in_ring (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &center, float r_in, float r_out, F &&f, Metric metric=Metric::EUCLIDEAN, TraversalScratch *scratch=nullptr)
	Visits the NavCels at distance in [r_in, r_out] from center, connected to seed through NavCels within r_out (the inner part is crossed, not visited).
template<class F>
bool	for_each_on_segment (const NavMap &nm, const Eigen::Vector3f &a, const Eigen::Vector3f &b, F &&f)
	As above, locating the seed under a; false if a is off the map.
template<class F>
bool	for_each_on_segment (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &a, const Eigen::Vector3f &b, F &&f)
	Walks the surface along segment a -> b (in XY), from seed (the NavCel under a), visiting each NavCel crossed with the segment parameters where it enters and leaves.
template<class F>
bool	for_each_on_segment_impl (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &a, const Eigen::Vector3f &b, F &&f)
template<class F>
std::size_t	grow (const NavMap &nm, NavCelId seed, const Eigen::Vector3f &center, float r_in, float r_out, Metric metric, bool with_seed, TraversalScratch *scratch, F &f)
bool	in_polygon (const std::vector< Eigen::Vector2f > &poly, float x, float y)
AABB	navcel_box (const NavMap &nm, NavCelId cid)
bool	seed_at (const NavMap &nm, const Eigen::Vector3f &p, NavCelId &seed)
template<class F, class ... A>
bool	visit (F &f, A &&... a)

Variables
constexpr NavCelId	kNoCel = std::numeric_limits<NavCelId>::max()

Detailed Description

Traversals over the NavCels of a navmap::NavMap: box, disc, ring, polygon, distance order and segment walk.

Every traversal calls a visitor per NavCel. The visitor may return void, or bool: false stops the traversal. Regions around a point (disc, ring, polygon, distance order) grow from a seed NavCel through the mesh adjacency, so they stay on the seed's surface and level: a disc on the ground floor never reaches the floor above, however close it is in XY. The box traversal is global (every surface). A NavCel belongs to a region when its centroid does.

Pass a TraversalScratch to reuse buffers across calls: once warm, no traversal allocates.