map
[Interface specifications]
Detailed Description
Access maps.
The map interface provides access to maps. Depending on the underlying driver, the map may be provided as an occupancy grid, or as a set of segments (or both). In either case, the map is retrieved by request only. Segment (aka vector) maps are delivered in one message, whereas grid maps are delivered in tiles, via a sequence of requests.
| #define | PLAYER_MAP_MAX_TILE_SIZE (((int)((PLAYER_MAX_PAYLOAD_SIZE-12)/1.001)) - 20 - 1) |
| The maximum size of a grid map tile, in cells. | |
| #define | PLAYER_MAP_MAX_SEGMENTS 131068 |
| The maximum number of segments in a vector map. | |
| #define | PLAYER_MAP_DATA_INFO 1 |
| Data subtype: grid map metadata. | |
| #define | PLAYER_MAP_REQ_GET_INFO 1 |
| Request/reply subtype: get grid map metadata. | |
| #define | PLAYER_MAP_REQ_GET_DATA 2 |
| Request/reply subtype: get grid map tile. | |
| #define | PLAYER_MAP_REQ_GET_VECTOR 3 |
| Request/reply subtype: get vector map. | |
| typedef struct player_map_info | player_map_info_t |
| The maximum size of a grid map tile, in cells. | |
| typedef struct player_map_data | player_map_data_t |
| The maximum size of a grid map tile, in cells. | |
| typedef struct player_map_data_vector | player_map_data_vector_t |
| The maximum size of a grid map tile, in cells. |
Define Documentation
| #define PLAYER_MAP_MAX_SEGMENTS 131068 |
The maximum number of segments in a vector map.
(2097152 - 30 (msg header) - 20 (meta-data to accompany the lines)) / 16 (size of each line) = 131068
| #define PLAYER_MAP_MAX_TILE_SIZE (((int)((PLAYER_MAX_PAYLOAD_SIZE-12)/1.001)) - 20 - 1) |
The maximum size of a grid map tile, in cells.
(max_payload - 12 (zlib header)) / 1.001 (zlib overhead) - 20 (tile meta-data)
Typedef Documentation
| typedef struct player_map_data player_map_data_t |
The maximum size of a grid map tile, in cells.
(max_payload - 12 (zlib header)) / 1.001 (zlib overhead) - 20 (tile meta-data)
| typedef struct player_map_data_vector player_map_data_vector_t |
The maximum size of a grid map tile, in cells.
(max_payload - 12 (zlib header)) / 1.001 (zlib overhead) - 20 (tile meta-data)
| typedef struct player_map_info player_map_info_t |
The maximum size of a grid map tile, in cells.
(max_payload - 12 (zlib header)) / 1.001 (zlib overhead) - 20 (tile meta-data)