NavCel Struct Reference

Navigation cell (triangle) with geometry and adjacency. More...

#include <NavMap.hpp>

Collaboration diagram for NavCel:

Public Attributes
float	area {0.0f}
	Triangle area (m²)
uint32_t	layer_dirty_mask {0}
	Reserved for future per-layer flags.
NavCelId	neighbor [3]
	Neighbor cids across edges 0,1,2.
Eigen::Vector3f	normal {0.0f, 0.0f, 1.0f}
	Unit normal of the triangle.
PointId	v [3] {0, 0, 0}
	Indices into navmap::Positions.

Detailed Description

Navigation cell (triangle) with geometry and adjacency.

Stores three vertex indices, precomputed geometric data (normal, area), and the indices of up to three neighboring NavCels across each edge.

Note

Layer values are stored per-NavCel in the navmap::LayerRegistry of the enclosing navmap::NavMap (not here).

Member Data Documentation

area

float area {0.0f}

Triangle area (m²)

layer_dirty_mask

uint32_t layer_dirty_mask {0}

Reserved for future per-layer flags.

neighbor

NavCelId neighbor[3]

Initial value:

{
    std::numeric_limits<uint32_t>::max(),
    std::numeric_limits<uint32_t>::max(),
    std::numeric_limits<uint32_t>::max()
  }

Neighbor cids across edges 0,1,2.

normal

Eigen::Vector3f normal {0.0f, 0.0f, 1.0f}

Unit normal of the triangle.

v

PointId v[3] {0, 0, 0}

Indices into navmap::Positions.

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The documentation for this struct was generated from the following file:

• navmap_core/include/navmap_core/NavMap.hpp