Struct jalansim::map::Map

template <typename T>

ClassList > jalansim > map > Map

2D occupancy grid map with distance field. More...

• #include <map.hpp>

Public Attributes

Type	Name
MapCell< T > *	cells Array of map cells (row-major order)
uint8_t	cells_managed Memory management flag (0=malloc, 1=CUDA managed)
T	max_dist Maximum distance value in the distance field.
T	origin_x
T	origin_y World coordinates of grid origin (cell 0,0)
T	scale Size of each grid cell in world units.
int	size_x
int	size_y Map dimensions in cells.

Public Functions

Type	Name
Map< T > *	clone () const Create a deep copy of this map.
JALANSIM_HOST_DEVICE size_t	index (int i, int j) const Convert grid coordinates to linear array index.
JALANSIM_HOST_DEVICE T	interpolate_dist (T i, T j) const Interpolate distance value at continuous grid coordinates.
JALANSIM_HOST_DEVICE bool	is_valid (int i, int j) const Check if grid coordinates are within map bounds.
void	resize (int sx, int sy) Resize the map to new dimensions.
JALANSIM_HOST_DEVICE int	to_i (T x) const Convert world x-coordinate to nearest grid x-index.
JALANSIM_HOST_DEVICE T	to_if (T x) const Convert world x-coordinate to continuous grid x-index.
JALANSIM_HOST_DEVICE int	to_j (T y) const Convert world y-coordinate to nearest grid y-index.
JALANSIM_HOST_DEVICE T	to_jf (T y) const Convert world y-coordinate to continuous grid y-index.
JALANSIM_HOST_DEVICE T	to_x (int i) const Convert grid x-index to world x-coordinate.
JALANSIM_HOST_DEVICE T	to_y (int j) const Convert grid y-index to world y-coordinate.
void	update_dist (T max_d) Update the distance field using CPU or GPU algorithm.

Public Static Functions

Type	Name
Map< T > *	create () Create a new map instance with appropriate memory allocation.
void	destroy (Map< T > * m) Destroy a map instance and free its memory.

Detailed Description

Represents a 2D environment as a regular grid of cells, where each cell stores occupancy information and distance to nearest obstacle. Supports both CPU and GPU execution with efficient distance field computation using various algorithms (Jacobi iteration, jump flooding).

The map uses a coordinate system where (origin_x, origin_y) corresponds to grid cell (0, 0), and each cell represents a square region of size 'scale' in world units.

Template parameters:

• T Numeric type for distance values and coordinates (float, double)

Public Attributes Documentation

variable cells

Array of map cells (row-major order)

MapCell<T>* jalansim::map::Map< T >::cells;

---

variable cells_managed

Memory management flag (0=malloc, 1=CUDA managed)

uint8_t jalansim::map::Map< T >::cells_managed;

---

variable max_dist

Maximum distance value in the distance field.

T jalansim::map::Map< T >::max_dist;

---

variable origin_x

T jalansim::map::Map< T >::origin_x;

---

variable origin_y

World coordinates of grid origin (cell 0,0)

T jalansim::map::Map< T >::origin_y;

---

variable scale

Size of each grid cell in world units.

T jalansim::map::Map< T >::scale;

---

variable size_x

int jalansim::map::Map< T >::size_x;

---

variable size_y

Map dimensions in cells.

int jalansim::map::Map< T >::size_y;

---

Public Functions Documentation

function clone

Create a deep copy of this map.

inline Map < T > * jalansim::map::Map::clone () const

Returns:

Pointer to cloned map with identical data

---

function index

Convert grid coordinates to linear array index.

inline JALANSIM_HOST_DEVICE size_t jalansim::map::Map::index (
    int i,
    int j
) const

Parameters:

• i Grid x-coordinate
• j Grid y-coordinate

Returns:

Linear index into cells array

---

function interpolate_dist

Interpolate distance value at continuous grid coordinates.

inline JALANSIM_HOST_DEVICE T jalansim::map::Map::interpolate_dist (
    T i,
    T j
) const

Parameters:

• i Continuous grid coordinate in x-direction
• j Continuous grid coordinate in y-direction

Returns:

Bilinearly interpolated distance value

---

function is_valid

Check if grid coordinates are within map bounds.

inline JALANSIM_HOST_DEVICE bool jalansim::map::Map::is_valid (
    int i,
    int j
) const

Parameters:

• i Grid x-coordinate
• j Grid y-coordinate

Returns:

True if coordinates are valid, false otherwise

---

function resize

Resize the map to new dimensions.

inline void jalansim::map::Map::resize (
    int sx,
    int sy
) 

Parameters:

• sx New width in cells
• sy New height in cells

---

function to_i

Convert world x-coordinate to nearest grid x-index.

inline JALANSIM_HOST_DEVICE int jalansim::map::Map::to_i (
    T x
) const

Parameters:

• x World x-coordinate

Returns:

Nearest grid x-index

---

function to_if

Convert world x-coordinate to continuous grid x-index.

inline JALANSIM_HOST_DEVICE T jalansim::map::Map::to_if (
    T x
) const

Parameters:

• x World x-coordinate

Returns:

Continuous grid x-index

---

function to_j

Convert world y-coordinate to nearest grid y-index.

inline JALANSIM_HOST_DEVICE int jalansim::map::Map::to_j (
    T y
) const

Parameters:

• y World y-coordinate

Returns:

Nearest grid y-index

---

function to_jf

Convert world y-coordinate to continuous grid y-index.

inline JALANSIM_HOST_DEVICE T jalansim::map::Map::to_jf (
    T y
) const

Parameters:

• y World y-coordinate

Returns:

Continuous grid y-index

---

function to_x

Convert grid x-index to world x-coordinate.

inline JALANSIM_HOST_DEVICE T jalansim::map::Map::to_x (
    int i
) const

Parameters:

• i Grid x-index

Returns:

World x-coordinate

---

function to_y

Convert grid y-index to world y-coordinate.

inline JALANSIM_HOST_DEVICE T jalansim::map::Map::to_y (
    int j
) const

Parameters:

• j Grid y-index

Returns:

World y-coordinate

---

function update_dist

Update the distance field using CPU or GPU algorithm.

inline void jalansim::map::Map::update_dist (
    T max_d
) 

Parameters:

• max_d Maximum distance value to use for initialization

---

Public Static Functions Documentation

function create

Create a new map instance with appropriate memory allocation.

static inline Map < T > * jalansim::map::Map::create () 

Returns:

Pointer to newly created map (CUDA managed memory if available)

---

function destroy

Destroy a map instance and free its memory.

static inline void jalansim::map::Map::destroy (
    Map < T > * m
) 

Parameters:

• m Pointer to map to destroy

---

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The documentation for this class was generated from the following file include/jalansim/map/map.hpp