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 <cmath>
#include <cstdint>
#include <type_traits>
#include <deque>
#include <algorithm>
#include <utility>
#include "Eigen/Core"
#include "navmap_core/Geometry.hpp"

Include dependency graph for NavMap.hpp:

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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
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...
struct	SurfaceLink
	Connection between two NavCels that do not share an edge (stairs, an elevator, a door between surfaces that are not welded...). 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 , I16 = 3 }
	Runtime type tag for a layer's scalar storage. More...
enum class	LinkType : uint8_t {   GENERIC = 0 , RAMP = 1 , STAIRS = 2 , ELEVATOR = 3 ,   DOOR = 4 }
	Main container for navigable surfaces, geometry, and layers. 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< int16_t > ()
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.