Struct jalansim::range::Bresenham

template <typename T>

ClassList > jalansim > range > Bresenham

Bresenham line algorithm-based range sensing.More...

• #include <bresenham.hpp>

Public Static Functions

Type	Name
JALANSIM_HOST_DEVICE T	map_calc_range (const jalansim::map::Map< T > * map, T ox, T oy, T oa, T max_range) Calculate range using Bresenham line algorithm.

Detailed Description

Implements range sensing using the classic Bresenham line drawing algorithm to trace rays through an occupancy grid. Efficiently steps through grid cells along a straight line from origin to target, checking each cell for occupancy. Handles both steep and shallow line angles using coordinate swapping for optimal performance on discrete grids.

Template parameters:

• T Numeric type for range calculations (default: double)

Public Static Functions Documentation

function map_calc_range

Calculate range using Bresenham line algorithm.

static inline JALANSIM_HOST_DEVICE T jalansim::range::Bresenham::map_calc_range (
    const jalansim::map::Map < T > * map,
    T ox,
    T oy,
    T oa,
    T max_range
) 

Traces a ray from origin in the specified direction using Bresenham's line algorithm to efficiently step through grid cells. Returns distance to first occupied cell or maximum range if no obstacle is encountered.

Parameters:

• map Pointer to the occupancy grid map
• ox Origin X coordinate in world frame
• oy Origin Y coordinate in world frame
• oa Ray direction angle in radians
• max_range Maximum sensing range

Returns:

Distance to nearest obstacle or max_range if no obstacle found

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