Surface Struct Reference

A connected set of NavCels in a common reference frame. More...

#include <NavMap.hpp>

Collaboration diagram for Surface:

Public Attributes
AABB	aabb
	Bounds of the surface geometry.
std::vector< BVHNode >	bvh
	BVH nodes for this surface.
std::string	frame_id
	Frame id of this surface.
std::vector< NavCelId >	navcels
	NavCels belonging to this surface (global ids)
std::vector< int >	prim_indices
	Compact list of cids used by BVH leaves.

Detailed Description

A connected set of NavCels in a common reference frame.

Each navmap::Surface owns a subset of NavCels plus its own BVH. The frame_id is provided for external consumers (e.g., ROS TF).

Member Data Documentation

aabb

AABB aabb

Bounds of the surface geometry.

bvh

std::vector<BVHNode> bvh

BVH nodes for this surface.

frame_id

std::string frame_id

Frame id of this surface.

navcels

std::vector<NavCelId> navcels

NavCels belonging to this surface (global ids)

prim_indices

std::vector<int> prim_indices

Compact list of cids used by BVH leaves.

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

• navmap_core/include/navmap_core/NavMap.hpp