NavMap.hpp File Reference

Core container and data structures for EasyNav navigable meshes. More...

#include <vector>
#include <memory>
#include <unordered_map>
#include <optional>
#include <string>
#include <array>
#include <limits>
#include <stack>
#include <cmath>
#include <cstdint>
#include <span>
#include <type_traits>
#include <deque>
#include <algorithm>
#include <Eigen/Core>
#include "navmap_core/Geometry.hpp"

Include dependency graph for NavMap.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	BVHNode
	Node in a per-surface bounding volume hierarchy (BVH). More...
struct	Colors
	Optional per-vertex colors (RGBA, 8-bit per channel). More...
struct	LayerMeta
	Metadata associated to a layer (optional). More...
class	LayerRegistry
	Registry of named layers (per-NavCel). More...
struct	LayerView< T >
	Typed layer view storing one T value per NavCel. More...
struct	LayerViewBase
	Non-templated base for runtime layer handling. More...
struct	NavMap::LocateOpts
	Options for the locate functions. More...
struct	NavCel
	Navigation cell (triangle) with geometry and adjacency. More...
class	NavMap
	Main container for navigable surfaces, geometry, and layers. More...
struct	Positions
	Structure-of-arrays for storing 3D vertex positions. More...
struct	Ray
	Simple ray (origin + direction). More...
struct	RayHit
	Result of a raycast against the NavMap. More...
struct	Surface
	A connected set of NavCels in a common reference frame. More...

Namespaces
namespace	navmap

Typedefs
using	NavCelId = uint32_t
	Index of a triangle (NavCel) within the global mesh.
using	PointId = uint32_t
	Index into the per-vertex position arrays (SoA).

Enumerations
enum class	AreaShape { CIRCULAR , RECTANGULAR }
	Shape selector for area-writing APIs. More...
enum class	LayerType : uint8_t { U8 = 0 , F32 = 1 , F64 = 2 }
	Runtime type tag for a layer's scalar storage. More...

Functions
template<typename T>
constexpr LayerType	layer_type_tag ()
	Helper to map C++ scalar type to navmap::LayerType tag.
template<>
constexpr LayerType	layer_type_tag< double > ()
template<>
constexpr LayerType	layer_type_tag< float > ()
template<>
constexpr LayerType	layer_type_tag< uint8_t > ()

Detailed Description

Core container and data structures for EasyNav navigable meshes.

This header defines the fundamental types for NavMap:

• Vertex storage as a structure-of-arrays (SoA) via navmap::Positions.
• Triangle cells (navmap::NavCel) with cached geometry and adjacency.
• Surfaces (navmap::Surface) as partitions of triangles with their own BVH.
• A per-NavCel layer registry (navmap::LayerRegistry) to store arbitrary scalar attributes (occupancy, cost, elevation, etc.).
• The main navmap::NavMap container, including geometry queries such as raycast, closest-triangle and nav-cell localization.

The API exposes low-level containers while providing convenience utilities for common workflows without sacrificing control.