.. _pilot.GridMapData:

pilot.GridMapData
=================

.. cpp:namespace:: pilot::GridMapData

Class
-----

Base class of pixel based world maps.

Inherits from :ref:`pilot.Sample`.


Fields
------

.. cpp:member:: string name
.. cpp:member:: long last_modified

	timestamp [usec]

.. cpp:member:: float scale

	size of a pixel in [m]

.. cpp:member:: Vector2d origin

	grid offset (map position of lower left pixel, world to map) [m]

.. cpp:member:: double orientation

	grid rotation (world to map) [rad]





Methods
-------


.. cpp:function:: void transform(Transform3D* sample)
.. cpp:function:: Matrix4d get_grid_to_frame() const

	computes grid to 'frame' 2.5D transformation matrix

.. cpp:function:: Matrix4d get_frame_to_grid() const

	computes 'frame' to grid 2.5D transformation matrix

.. cpp:function:: bool same_as(GridMapData* other) const

	returns true if both have same name and last_modified time

.. cpp:function:: map_info_t get_info() const