12 releases (4 breaking)
0.5.3 | Jul 23, 2021 |
---|---|
0.5.2 | Jul 23, 2021 |
0.4.1 | Jun 30, 2021 |
0.3.2 | Jun 28, 2021 |
0.1.0 | May 8, 2021 |
#1633 in Algorithms
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125KB
2K
SLoC
cell-map
: many-layer 2D cellular maps
This crate provides the CellMap
type, a 2D map with many layers comprised of
cells that can store arbitrary data. It is based on
ANYbotics/grid_map, a C++ ROS package
which provides the same type of data structre.
CellMap
uses ndarray::Array2
to store its data in an efficient and
scalable format. It also uses nalgebra
types for expressing vectors and
points.
Getting Started
Layers
Each layer of the cell map is represented by its own ndarray::Array2
array.
The map indexes each layer by an enum implementing the Layer
trait. A derive
macro is provided to simplify this, for example:
use cell_map::Layer;
#[derive(Layer, Clone, Debug)]
enum MyLayer {
Height,
Gradient,
Roughness
}
The Layer
trait is required to be Clone
, and is recommended to be Debug
.
Creating a CellMap
To create a new map:
use cell_map::{CellMap, CellMapParams, Layer};
use nalgebra::Vector2;
// Creates a new 5x5 map where each cell is 1.0 units wide, which is centred on (0, 0), with
// all elements initialised to 1.0.
let my_map = CellMap::<MyLayer, f64>::new_from_elem(
CellMapParams {
cell_size: Vector2::new(1.0, 1.0),
cell_bounds: Bounds::new((0, 5), (0, 5)).unwrap(),
centre: Vector2::new(0.0, 0.0),
},
1.0,
);
Iterating Over Cells
CellMap
provides methods to produce iterators over its data:
CellMap::iter()
gives an iterator over all cells in every layer of the mapCellMap::window_iter()
gives an iterator over rectangular windows into the map.CellMap::line_iter()
gives an iterator of cells between two world points
All iterators also provide a mutable variant, and more iterators are planned in the future!
You can modify iterators so they produce their indexes, as well as controlling which layers the
data comes from. See iterators
for more information.
// Check all the cells in our map are 1, this will be true
assert!(my_map.iter().all(|&v| v == 1.0));
// Use a window iterator to change all cells not on the border of the map to 2
my_map.window_iter_mut(Vector2::new(1, 1)).unwrap().for_each(|mut v| {
v[(1, 1)] = 2.0;
});
// Overwrite all values on the Roughness layer to be zero
my_map.iter_mut().layer(MyLayer::Roughness).for_each(|v| *v = 0.0);
// Check that our map is how we expect it
for ((layer, cell), &value) in my_map.iter().indexed() {
if matches!(layer, MyLayer::Roughness) {
assert_eq!(value, 0.0);
}
else if cell.x == 0 || cell.x == 4 || cell.y == 0 || cell.y == 4 {
assert_eq!(value, 1.0);
}
else {
assert_eq!(value, 2.0);
}
}
Dependencies
~5MB
~104K SLoC