SimplifyParams Struct Reference

Parameters of simplify(). More...

#include <Simplify.hpp>

Collaboration diagram for SimplifyParams:

Public Attributes
std::vector< std::string >	ignore_layers
	Layers left out of the above (e.g.
std::vector< std::string >	layers
	Layers whose values must not change anywhere; empty: all the layers of the map.
float	max_edge_length {std::numeric_limits<float>::infinity()}
	No edge longer than this (m). Bounds the NavCel size, e.g. to keep marking obstacles fine.
float	max_error {0.02f}
	Geometric error (m): every vertex stays within this distance of the planes of the original NavCels it replaces (quadric error), and of the open edges it moves along.
float	max_normal_change {30.0f}
	Maximum rotation (deg) of a NavCel's normal with respect to the original one.
float	min_quality {0.15f}
	Minimum NavCel quality, 4·sqrt(3)·area / sum of squared edges (1 equilateral, 0 flat).

Detailed Description

Parameters of simplify().

Member Data Documentation

ignore_layers

std::vector<std::string> ignore_layers

Layers left out of the above (e.g.

per-cell geometry such as "elevation"). They are carried from the NavCel that survives, so recompute them if they depend on its shape.

layers

std::vector<std::string> layers

Layers whose values must not change anywhere; empty: all the layers of the map.

max_edge_length

float max_edge_length {std::numeric_limits<float>::infinity()}

No edge longer than this (m). Bounds the NavCel size, e.g. to keep marking obstacles fine.

max_error

float max_error {0.02f}

Geometric error (m): every vertex stays within this distance of the planes of the original NavCels it replaces (quadric error), and of the open edges it moves along.

max_normal_change

float max_normal_change {30.0f}

Maximum rotation (deg) of a NavCel's normal with respect to the original one.

min_quality

float min_quality {0.15f}

Minimum NavCel quality, 4·sqrt(3)·area / sum of squared edges (1 equilateral, 0 flat).

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

• navmap_core/include/navmap_core/Simplify.hpp