GridMap

class GridMap

A grid map discretizes a portion of space, holding values in an Eigen matrix.

__init__(width: int, height: int, resolution: float, origin: Vector2 = array([0., 0.], dtype=float32)) → None

Construct a grid map, storing values in an internal Map.

Parameters:

• width – The width of the map in number of cells

• height – The height of the map in number of cells

• resolution – The resolution: size of one cell in meters.

• origin – The position of the left-bottom corner of the map in meters.

contains_point(point: Vector2) → bool

Checks whether the map contains a point.

Parameters:

point – The point

Returns:

True if the point is covered by the map.

get_cell_at_position(position: Vector2, clamp: bool) → numpy.ndarray[numpy.int32[2, 1]]

Gets the indices corresponding to a cell at a given position.

When the cell lies outside of the map, it either returns unbounded indices (clamp=false) or clamp them (clamp=false).

Parameters:

• position – The position

• clamp – Whether to clamp

Returns:

The cell.

get_position_of_cell(cell: numpy.ndarray[numpy.int32[2, 1]]) → Vector2

Gets the position of a the center of a cell

Does not check whether the cell is contained or not in the map.

Parameters:

cell – The cell indices

Returns:

The position in meters

get_possible_cell_at_position(position: Vector2) → numpy.ndarray[numpy.int32[2, 1]] | None

Gets the indices corresponding to a cell at a given position.

Parameters:

position – The position

Returns:

The cell or null if the cell lies outside of the map.

move_center(position: Vector2, value: int = 128, snap: bool = True) → None

Moves the center of the map.

When snap is enabled, it constraints moves by multiple of the cell size.

Parameters:

• position – The desired center position

• value – The cell value set in regions not previously covered by the map.

• snap – Whether to snap movements to the grid.

move_origin(position: Vector2, value: int = 128, snap: bool = True) → None

Moves the origin of the map.

When snap is enabled, it constraints moves by multiple of the cell size.

Parameters:

• position – The desired origin (bottom-left corner) position

• value – The cell value set in regions not previously covered by the map.

• snap – Whether to snap movements to the grid.

raytrace_between_cells(at: Callable[[numpy.ndarray[numpy.int32[2, 1]]], None], c1: numpy.ndarray[numpy.int32[2, 1]], c2: numpy.ndarray[numpy.int32[2, 1]], max_length: int = 4294967295, min_length: int = 0) → None

Applies a function for each cell along a line between two cells using Bresenham’s line algorithms.

If the line has less than min_length cells, it will be ignored. If the line has more than max_length cells, it will be clipped.

Parameters:

• at – The function

• c1 – The cell at one vertex

• c2 – The cell at the other vertex

• max_length – The maximum number of cells

• min_length – The minimum number of cells

set_value(value: int) → None

Sets the value of all cells.

Parameters:

value – The value

set_value_at_point(point: Vector2, value: int) → None

Sets the value of the cell at a location.

Parameters:

• point – The cell location in meters

• value – The value

set_value_between_cells(c1: numpy.ndarray[numpy.int32[2, 1]], c2: numpy.ndarray[numpy.int32[2, 1]], value: int) → None

Sets the value of all cells along a line between two cells

Parameters:

• c1 – The cell at one vertex

• c2 – The cell at the other vertex

• value – The value

set_value_in_disc(center: Vector2, radius: float, value: int) → None

Sets the value of all cells in a disc

Parameters:

• center – The center of the disc in meters

• radius – The radius of the disc in meters

• value – The value

set_value_in_rectangle(bottom_left: Vector2, width: float, height: float, value: int) → None

Sets the value of all cells in a spatial rectangle

Parameters:

• bottom_left – The bottom-left corner in meters

• width – The rectangle width in meters

• height – The rectangle height in meters

• value – The value

set_value_of_cell(cell: numpy.ndarray[numpy.int32[2, 1]], value: int) → None

Sets the value of a single cell.

Parameters:

• cell – The cell

• value – The value

set_value_on_line(p1: Vector2, p2: Vector2, value: int) → None

Sets the value of all cells along a line between to points.

Parameters:

• p1 – The line vertex in meters

• p2 – The other line vertex in meters

• value – The value

property bottom_left

Type:

Vector2

The position of the bottom-left corner of the map in meters.

property center

Type:

Vector2

The position of the center of the map in meters.

property height

Type:

int

The number of rows.

property map

Type:

numpy.ndarray[numpy.uint8[m, n], flags.writeable, flags.c_contiguous]

Returns a constant reference to the map.

property origin

Type:

Vector2

The position of the bottom-left corner of the map in meters.

property resolution

Type:

float

The size of one cell in meters.

property top_right

Type:

Vector2

The position of the top-right corner of the map in meters.

property width

Type:

int

The number of columns.