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

Add cell-map to your dependencies:

toml [dependencies] cell-map = "0.2"

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:

```rust use cell_map::Layer;

[derive(Layer, Clone, Debug)]

enum MyLayer { Height, Gradient, Roughness } `` TheLayertrait is required to beClone, and is recommended to beDebug`.

Creating a CellMap

To create a new map:

```rust use cell_map::{CellMap, CellMapParams}; use nalgebra::Vector2;

// Creates a new 5x5 map where each cell is 1.0 units wide, which is centred on (0, 0). let mymap = CellMap::::newfromelem( CellMapParams { cellsize: Vector2::new(1.0, 1.0), num_cells: Vector2::new(5, 5), centre: Vector2::new(0.0, 0.0), }, 1.0, ); ```

Iterating Over Cells

CellMap provides the following iteration types over its cells: - CellIter - iterate each cell in the map - WindowIter - iterate a window through the map

All iterators also provide a mutable variant, and more iterators are planned in the future!

You can modify iterators so they produce Layered or Indexed iterators as well.

```rust

// 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 mymap.windowitermut(Vector2::new(1, 1)).unwrap().foreach(|mut v| { v[(1, 1)] = 2.0; });

// Overwrite all values on the Roughness layer to be zero mymap.itermut().layer(MyLayer::Roughness).for_each(|v| *v = 0.0);

// Check that our map is how we expect it for ((layer, cell), &value) in mymap.iter().indexed() { if let MyLayer::Roughness = layer { asserteq!(value, 0.0); } else if cell.x == 0 || cell.x == 4 || cell.y == 0 || cell.y == 4 { asserteq!(value, 1.0); } else { asserteq!(value, 2.0); } } ```