Struct CellMapParams

pub struct CellMapParams {
    pub cell_size: Vector2<f64>,
    pub cell_bounds: Bounds,
    pub rotation_in_parent_rad: f64,
    pub position_in_parent: Vector2<f64>,
    pub cell_boundary_precision: f64,
}

Contains parameters required to construct a CellMap

Fields

cell_size: Vector2<f64>

The size (resolution) of each cell in the map, in parent frame coordinates.

Default

The default value is [1.0, 1.0].

cell_bounds: Bounds

The number of cells in the x and y directions.

Default

The default value is Bounds::empty().

rotation_in_parent_rad: f64

The rotation of the map’s Z axis about the parent Z axis in radians.

Default

The default value is 0.0.

position_in_parent: Vector2<f64>

The position of the origin of the map in the parent frame, in parent frame units.

Default

The default value is [0.0, 0.0].

cell_boundary_precision: f64

The precision to use when determining cell boundaries.

This precision factor allows us to account for times when a cell position should fit into a particular cell index, but due to floating point rounding does not. For example take a map with a cell_size = [0.1, 0.1], the cell index of the position [0.7, 0.1] should be [7, 1], however the positions floating point index would be calculated as [6.999999999999998, 0.9999999999999999], which if floor()ed to fit into a usize would give the incorrect index [6, 0].

When calculating cell index we therefore floor the floating point index unless it is within cell_size * cell_boundary_precision, in which case we round up to the next cell. Mutliplying by cell_size allows this value to be independent of the scale of the map.

Default

The default value is 1e-10.

Trait Implementations

impl Clone for CellMapParams

fn clone(&self) -> CellMapParams

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CellMapParams

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CellMapParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CellMapParams

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for CellMapParams

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for CellMapParams