Main container for navigable surfaces, geometry, and layers. More...

#include <NavMap.hpp>

Collaboration diagram for NavMap:

[legend]

Classes
struct	LocateOpts
	Options for the locate functions. More...

Public Member Functions
template<typename T>
std::shared_ptr< LayerView< T > >	add_layer (const std::string &name, const std::string &description, const std::string &unit, const std::string &src_layer)
	Create (or get) a typed per-NavCel layer, initialized from another layer.

template<typename T>
std::shared_ptr< LayerView< T > >	add_layer (const std::string &name, const std::string &description={}, const std::string &unit={}, T default_value=T{})
	Create (or get) a typed per-NavCel layer with a default value.

NavCelId	add_navcel (uint32_t v0, uint32_t v1, uint32_t v2)
	Append a triangle (NavCel) and return its id.

void	add_navcel_to_surface (std::size_t surface_index, NavCelId cid)
	Add an existing nav cell id to a surface.

std::size_t	add_surface (const Surface &s)
	Append an existing Surface (by value).

std::size_t	add_surface (Surface &&s)
	Add a Surface by move (avoids copy).

uint32_t	add_vertex (const Eigen::Vector3f &p)
	Append a vertex and return its index.

void	build_adjacency ()
	Build topological adjacency between neighboring NavCels.

bool	closest_triangle (const Eigen::Vector3f &p_world, size_t &surface_idx, NavCelId &cid, Eigen::Vector3f &closest_point, float &sqdist, int restrict_surface=-1) const
	Find the closest triangle to a point.

std::size_t	create_surface (std::string frame_id)
	Create a new empty Surface and append it to the map.

Surface	create_surface_obj (const std::string &frame_id) const
	Create a standalone Surface object (not yet added to the map).

std::optional< LayerMeta >	get_layer_meta (const std::string &name) const
	Return metadata for a layer if present (implementation-defined).

std::array< NavCelId, 3 >	get_neighbors (NavCelId cid) const
	Return the three neighbor NavCel ids of triangle `cid`.

bool	has_layer (const std::string &name) const
	Check whether a layer named `name` exists.

bool	has_same_geometry (const NavMap &other) const
	Fast check for identical geometry (vertices and NavCel indices).

template<typename T>
void	layer_clear (const std::string &name, T value=T{})
	Reset all values in a layer to a given value.

template<typename T>
bool	layer_copy (const std::string &src, const std::string &dst)
	Copy values from one layer into another.

template<typename T>
T	layer_get (const std::string &name, NavCelId cid, T def=T{}) const
	Get a per-cell value as the requested type.

template<typename T>
void	layer_set (const std::string &name, NavCelId cid, T value)
	Set a per-cell value (creates/retypes the layer if needed).

std::size_t	layer_size (const std::string &name) const
	Number of entries in a layer (should equal navcels.size()).

std::string	layer_type_name (const std::string &name) const
	Human-readable type name for a layer ("float", "double", "uint8", ...).

std::vector< std::string >	list_layers () const
	List all layer names currently stored.

bool	locate_navcel (const Eigen::Vector3f &p_world, size_t &surface_idx, NavCelId &cid, Eigen::Vector3f &bary, Eigen::Vector3f *hit_pt) const
	Locate the triangle under / near a world point (convenience).

bool	locate_navcel (const Eigen::Vector3f &p_world, size_t &surface_idx, NavCelId &cid, Eigen::Vector3f &bary, Eigen::Vector3f *hit_pt, const LocateOpts &opts) const
	Locate the triangle under / near a world point.

bool	locate_navcel_core (const Eigen::Vector3f &p_world, std::size_t &surface_idx, NavCelId &cid, Eigen::Vector3f &bary, Eigen::Vector3f *hit_pt, const LocateOpts &opts) const
	Forward to the existing low-level locator (implemented in .cpp).

void	mark_vertex_updated (PointId)
	Mark a vertex as updated (reserved for future cache invalidation).

Eigen::Vector3f	navcel_centroid (NavCelId cid) const
	Triangle centroid (computed on the fly).

std::vector< NavCelId >	navcel_neighbors (NavCelId cid) const
	Return up to 3 neighbor cell ids (skips invalid entries).

template<typename T>
T	navcel_value (NavCelId cid, const LayerView< T > &layer) const
	Read the value of a typed per-NavCel layer at triangle `cid`.

	NavMap ()
	Copy constructor: deep copy of geometry, surfaces, layers and metadata.

	NavMap (const NavMap &other)
	Copy constructor: deep copy of geometry, surfaces, layers and metadata.

NavMap &	operator= (const NavMap &other)
	Copy assignment optimized to avoid geometry duplication.

NavMap &	operator= (NavMap &&other) noexcept
	Move assignment.

bool	raycast (const Eigen::Vector3f &o, const Eigen::Vector3f &d, NavCelId &hit_cid, float &t, Eigen::Vector3f &hit_pt) const
	Raycast against all surfaces to find the closest hit.

void	raycast_many (const std::vector< Ray > &rays, std::vector< RayHit > &out, bool first_hit_only=true) const
	Batched raycast.

void	rebuild_geometry_accels ()
	Recompute derived geometry and acceleration structures.

bool	remove_surface (std::size_t surface_index)
	Remove a Surface by index.

double	sample_layer_at (const std::string &name, const Eigen::Vector3f &p_world, double def=std::numeric_limits< double >::quiet_NaN()) const
	Sample a per-NavCel layer at a world position.

template<typename T>
bool	set_area (const Eigen::Vector3f &p_world, T value, const std::string &layer_name, AreaShape shape, float size)
	Set a per-NavCel layer to a constant value over a 2D area.

Public Attributes
std::optional< Colors >	colors
	Optional per-vertex colors.

std::unordered_map< std::string, LayerMeta >	layer_meta
	Optional metadata per layer.

LayerRegistry	layers
	Per-NavCel layers (runtime registry)

std::vector< NavCel >	navcels
	All triangles (global indexing)

Positions	positions
	Vertex positions (SoA)

std::vector< Surface >	surfaces
	Surfaces (partitions of navcels)

Detailed Description

Main container for navigable surfaces, geometry, and layers.

A navmap::NavMap aggregates vertex positions, a list of navmap::NavCel triangles (global indexing), one or more navmap::Surface partitions, and a navmap::LayerRegistry with arbitrary per-NavCel scalar attributes.

Typical workflow

Fill positions, navcels, and surfaces.
Call rebuild_geometry_accels() to compute normals, areas, adjacency, and build per-surface BVHs.
Create layers via LayerRegistry::add_or_get() sized to navcels.size().
Query with locate_navcel(), raycast(), or closest_triangle().

Constructor & Destructor Documentation

◆ NavMap() [1/2]

NavMap ( )

Copy constructor: deep copy of geometry, surfaces, layers and metadata.

◆ NavMap() [2/2]

NavMap ( const NavMap & other )

Copy constructor: deep copy of geometry, surfaces, layers and metadata.

Member Function Documentation

◆ add_layer() [1/2]

template<typename T>

std::shared_ptr< LayerView< T > > add_layer	(	const std::string &	name,
		const std::string &	description,
		const std::string &	unit,
		const std::string &	src_layer )

Create (or get) a typed per-NavCel layer, initialized from another layer.

If a layer with name exists, it is returned (size preserved). If the size differs from navcels.size(), it is resized. If the source layer src_layer exists, its values are copied into the destination using layer_copy(), performing type conversion if necessary. If the source layer does not exist, the destination is left with defaults.

Template Parameters

T	Storage type.

Parameters

name	Layer name.
description	Human-readable description (optional).
unit	Unit (e.g., "m", "deg", "%"), optional.
src_layer	Source layer name to initialize from.

Returns: Shared view of the created/updated layer.

◆ add_layer() [2/2]

template<typename T>

std::shared_ptr< LayerView< T > > add_layer	(	const std::string &	name,
		const std::string &	description = {},
		const std::string &	unit = {},
		T	default_value = T{} )

Create (or get) a typed per-NavCel layer with a default value.

If a layer with name exists, it is returned (size preserved). If the size differs from navcels.size(), values are reinitialized to default_value.

Template Parameters

T	Storage type.

Parameters

name	Layer name.
description	Human-readable description (optional).
unit	Unit (e.g., "m", "deg", "%"), optional.
default_value	Initial value for all triangles.

Returns: Shared view of the created/updated layer.

◆ add_navcel()

NavCelId add_navcel	(	uint32_t	v0,
		uint32_t	v1,
		uint32_t	v2 )

Append a triangle (NavCel) and return its id.

Parameters

v0	Index of vertex 0.
v1	Index of vertex 1.
v2	Index of vertex 2.

◆ add_navcel_to_surface()

void add_navcel_to_surface	(	std::size_t	surface_index,
		NavCelId	cid )

Add an existing nav cell id to a surface.

◆ add_surface() [1/2]

std::size_t add_surface ( const Surface & s )

Append an existing Surface (by value).

Returns: New index in surfaces.

◆ add_surface() [2/2]

std::size_t add_surface ( Surface && s )

Add a Surface by move (avoids copy).

Returns: New index in surfaces.

◆ add_vertex()

uint32_t add_vertex ( const Eigen::Vector3f & p )

Append a vertex and return its index.

◆ build_adjacency()

void build_adjacency ( )

Build topological adjacency between neighboring NavCels.

Two triangles are neighbors if they share an undirected edge. Called by rebuild_geometry_accels().

◆ closest_triangle()

bool closest_triangle	(	const Eigen::Vector3f &	p_world,
		size_t &	surface_idx,
		NavCelId &	cid,
		Eigen::Vector3f &	closest_point,
		float &	sqdist,
		int	restrict_surface = -1 ) const

Find the closest triangle to a point.

Traverses per-surface BVHs with distance lower-bounds; returns the closest triangle, the closest point on it, and the squared distance.

Parameters

	p_world	Query point in world coordinates.
[out]	surface_idx	Surface index of the closest triangle.
[out]	cid	NavCel id of the closest triangle.
[out]	closest_point	Closest point on that triangle.
[out]	sqdist	Squared distance to `p_world`.
	restrict_surface	If >= 0, restrict search to this surface.

Returns: true if any triangle was considered.

◆ create_surface()

std::size_t create_surface ( std::string frame_id )

Create a new empty Surface and append it to the map.

Parameters

frame_id TF frame id for the surface.

Returns: Index of the created surface in surfaces.

◆ create_surface_obj()

Surface create_surface_obj ( const std::string & frame_id ) const

Create a standalone Surface object (not yet added to the map).

Parameters

frame_id Frame id to assign.

Returns: A Surface with no navcels, ready to be customized and then added.

◆ get_layer_meta()

std::optional< LayerMeta > get_layer_meta ( const std::string & name ) const

Return metadata for a layer if present (implementation-defined).

Parameters

name	Layer name.

Returns: Optional metadata if available.

◆ get_neighbors()

std::array< NavCelId, 3 > get_neighbors ( NavCelId cid ) const

Return the three neighbor NavCel ids of triangle cid.

Parameters

cid	NavCel id.

Returns: Array with neighbor ids or max uint32_t if boundary.

◆ has_layer()

bool has_layer ( const std::string & name ) const

Check whether a layer named name exists.

◆ has_same_geometry()

bool has_same_geometry ( const NavMap & other ) const

Fast check for identical geometry (vertices and NavCel indices).

◆ layer_clear()

template<typename T>

void layer_clear	(	const std::string &	name,
		T	value = T{} )

Reset all values in a layer to a given value.

Parameters

T	Expected storage type of the layer.
name	Layer name.
value	Value to assign to all entries.

◆ layer_copy()

template<typename T>

bool layer_copy	(	const std::string &	src,
		const std::string &	dst )

Copy values from one layer into another.

Both layers must have the same type and size.

Parameters

T	Storage type (e.g. float, uint8_t).
src	Name of source layer.
dst	Name of destination layer.

Returns: true if copy succeeded, false if type/size mismatch.

◆ layer_get()

template<typename T>

T layer_get	(	const std::string &	name,
		NavCelId	cid,
		T	def = T{} ) const

Get a per-cell value as the requested type.

If the stored type matches T, returns directly. Otherwise falls back to conversion vía double: floating → static_cast<T>, integral → clamp [0,max(T)] y redondeo (llround).

Si la capa no existe o cid está fuera de rango, devuelve def.

Template Parameters

T	uint8_t, float, or double

Parameters

name	Layer name
cid	Triangle id
def	Default value on failure

Returns: Value converted to T, or def

◆ layer_set()

template<typename T>

void layer_set	(	const std::string &	name,
		NavCelId	cid,
		T	value )

Set a per-cell value (creates/retypes the layer if needed).

Template Parameters

T	Storage type.

Parameters

name	Layer name.
cid	Triangle id.
value	Value to write.

◆ layer_size()

std::size_t layer_size ( const std::string & name ) const

Number of entries in a layer (should equal navcels.size()).

◆ layer_type_name()

std::string layer_type_name ( const std::string & name ) const

Human-readable type name for a layer ("float", "double", "uint8", ...).

◆ list_layers()

std::vector< std::string > list_layers ( ) const

List all layer names currently stored.

Returns: Vector of layer names.

◆ locate_navcel() [1/2]

bool locate_navcel	(	const Eigen::Vector3f &	p_world,
		size_t &	surface_idx,
		NavCelId &	cid,
		Eigen::Vector3f &	bary,
		Eigen::Vector3f *	hit_pt ) const

Locate the triangle under / near a world point (convenience).

Uses default LocateOpts. See the full overload for details.

Parameters

	p_world	Query point in world coordinates.
[out]	surface_idx	Surface index owning the located triangle.
[out]	cid	Located NavCel id.
[out]	bary	Barycentric coordinates of the hit.
[out]	hit_pt	Optional: projected point on the surface.

Returns: true if a triangle has been located.

◆ locate_navcel() [2/2]

bool locate_navcel	(	const Eigen::Vector3f &	p_world,
		size_t &	surface_idx,
		NavCelId &	cid,
		Eigen::Vector3f &	bary,
		Eigen::Vector3f *	hit_pt,
		const LocateOpts &	opts ) const

Locate the triangle under / near a world point.

Strategy: 1) If LocateOpts::hint_cid is provided, try walking neighbors. 2) Else, try a per-surface 2D seed grid near (x,y) with planar test. 3) If still not found, vertical raycast (downward or upward).

Parameters

	p_world	Query point in world coordinates.
[out]	surface_idx	Surface index owning the located triangle.
[out]	cid	Located NavCel id.
[out]	bary	Barycentric coordinates of the hit.
[out]	hit_pt	Optional: projected point on the surface.
	opts	Tuning options (see LocateOpts).

Returns: true if a triangle has been located.

◆ locate_navcel_core()

bool locate_navcel_core	(	const Eigen::Vector3f &	p_world,
		std::size_t &	surface_idx,
		NavCelId &	cid,
		Eigen::Vector3f &	bary,
		Eigen::Vector3f *	hit_pt,
		const LocateOpts &	opts ) const

Forward to the existing low-level locator (implemented in .cpp).

This hook should call your original, detailed locator implementation. The robust overload above will fall back to vertical rays if needed.

◆ mark_vertex_updated()

void mark_vertex_updated ( PointId )

Mark a vertex as updated (reserved for future cache invalidation).

Parameters

pid	Vertex id (unused for now).

◆ navcel_centroid()

Eigen::Vector3f navcel_centroid ( NavCelId cid ) const

Triangle centroid (computed on the fly).

◆ navcel_neighbors()

std::vector< NavCelId > navcel_neighbors ( NavCelId cid ) const

Return up to 3 neighbor cell ids (skips invalid entries).

◆ navcel_value()

template<typename T>

T navcel_value	(	NavCelId	cid,
		const LayerView< T > &	layer ) const

Read the value of a typed per-NavCel layer at triangle cid.

Template Parameters

T	Layer storage type (must match the layer).

Parameters

cid	NavCel id.
layer	Typed layer view.

Returns: The value for triangle cid.

◆ operator=() [1/2]

NavMap & operator= ( const NavMap & other )

Copy assignment optimized to avoid geometry duplication.

If both maps share identical geometry (same vertex arrays and NavCel indices), layers are synchronized by name/type (copy-on-difference) and destination-only layers are removed. Otherwise, a full deep copy is performed.

◆ operator=() [2/2]

NavMap & operator= ( NavMap && other )

noexcept

Move assignment.

Transfers ownership of geometry, surfaces, layers and metadata.

◆ raycast()

bool raycast	(	const Eigen::Vector3f &	o,
		const Eigen::Vector3f &	d,
		NavCelId &	hit_cid,
		float &	t,
		Eigen::Vector3f &	hit_pt ) const

Raycast against all surfaces to find the closest hit.

Parameters

	o	Ray origin (world).
	d	Ray direction (normalized).
[out]	hit_cid	NavCel id hit (valid if return is true).
[out]	t	Distance along ray (valid if return is true).
[out]	hit_pt	World-space intersection point.

Returns: true if any triangle was hit.

◆ raycast_many()

void raycast_many	(	const std::vector< Ray > &	rays,
		std::vector< RayHit > &	out,
		bool	first_hit_only = true ) const

Batched raycast.

Parameters

	rays	Input rays.
[out]	out	Output hits (parallel to `rays`).
	first_hit_only	If true, stop at the first surface that hits.

◆ rebuild_geometry_accels()

void rebuild_geometry_accels ( )

Recompute derived geometry and acceleration structures.

Computes triangle normals and areas, builds adjacency between neighbors, and builds per-surface BVHs. Layer sizes are not changed automatically; call LayerRegistry::resize_all() if you modified navcels.

◆ remove_surface()

bool remove_surface ( std::size_t surface_index )

Remove a Surface by index.

Does NOT touch navcels / positions.

Note: The caller must ensure there are no dangling indices.

Returns: true if the surface existed and was removed.

◆ sample_layer_at()

double sample_layer_at	(	const std::string &	name,
		const Eigen::Vector3f &	p_world,
		double	def = std::numeric_limits<double>::quiet_NaN() ) const

Sample a per-NavCel layer at a world position.

Locates the containing triangle and returns its layer value.

Parameters

name	Layer name.
p_world	World-space query.
def	Default value if not found.

Returns: Value or def if missing.

◆ set_area()

template<typename T>

bool set_area	(	const Eigen::Vector3f &	p_world,
		T	value,
		const std::string &	layer_name,
		AreaShape	shape,
		float	size )

Set a per-NavCel layer to a constant value over a 2D area.

The center is the ground projection of p_world. If the projected NavCel cannot be determined, returns false. Supports U8/F32/F64 layers.

Efficiency: BFS from the seed NavCel with XY AABB pruning against the circumscribed square of the area. Inclusion test by triangle centroid.

Template Parameters

T	uint8_t, float, or double

Parameters

p_world	3D point in world coordinates (projected to ground)
value	Value to set in the layer
layer_name	Target layer name
shape	CIRCULAR or RECTANGULAR
size	Radius (CIRCULAR) or side length (RECTANGULAR)

Returns: true if the seed NavCel was located and the layer updated

Member Data Documentation

◆ colors

std::optional<Colors> colors

Optional per-vertex colors.

◆ layer_meta

std::unordered_map<std::string, LayerMeta> layer_meta

Optional metadata per layer.

◆ layers

LayerRegistry layers

Per-NavCel layers (runtime registry)

◆ navcels

std::vector<NavCel> navcels

All triangles (global indexing)

◆ positions

Positions positions

Vertex positions (SoA)

◆ surfaces

std::vector<Surface> surfaces

Surfaces (partitions of navcels)

The documentation for this class was generated from the following files:

navmap_core/include/navmap_core/NavMap.hpp
navmap_core/src/navmap_core/NavMap.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NavMap() [1/2]

◆ NavMap() [2/2]

Member Function Documentation

◆ add_layer() [1/2]

◆ add_layer() [2/2]

◆ add_navcel()

◆ add_navcel_to_surface()

◆ add_surface() [1/2]

◆ add_surface() [2/2]

◆ add_vertex()

◆ build_adjacency()

◆ closest_triangle()

◆ create_surface()

◆ create_surface_obj()

◆ get_layer_meta()

◆ get_neighbors()

◆ has_layer()

◆ has_same_geometry()

◆ layer_clear()

◆ layer_copy()

◆ layer_get()

◆ layer_set()

◆ layer_size()

◆ layer_type_name()

◆ list_layers()

◆ locate_navcel() [1/2]

◆ locate_navcel() [2/2]

◆ locate_navcel_core()

◆ mark_vertex_updated()

◆ navcel_centroid()

◆ navcel_neighbors()

◆ navcel_value()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ raycast()

◆ raycast_many()

◆ rebuild_geometry_accels()

◆ remove_surface()

◆ sample_layer_at()

◆ set_area()

Member Data Documentation

◆ colors

◆ layer_meta

◆ layers

◆ navcels

◆ positions

◆ surfaces