map_state.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_MAP_STATE_H_
#define DESIGNLAB_MAP_STATE_H_
 
#include <map>
#include <vector>
 
#include "cassert_define.h"
#include "math_vector3.h"
 
namespace designlab {
 
class MapState final {
 public:
  MapState() : map_point_({}) {}
  explicit MapState(const std::vector<Vector3>& map_point)
      : map_point_(map_point) {}
  MapState(const MapState& other) = default;  
  MapState(MapState&& other) noexcept = default;  
  MapState& operator=(const MapState& other) = default;  
 
  inline Vector3 GetMapPoint(const size_t index) const noexcept {
    assert(index < map_point_.size());
 
    return map_point_[index];
  }
 
  inline size_t GetMapPointSize() const noexcept { return map_point_.size(); }
 
  inline void SetMapPoint(const size_t index, const Vector3& point) noexcept {
    assert(index < map_point_.size());
    map_point_[index] = point;
  }
 
  inline void SetMapPointVec(const std::vector<Vector3>& point) noexcept {
    map_point_ = point;
  }
 
  inline void AddMapPoint(const Vector3& point) noexcept {
    map_point_.push_back(point);
  }
 
  inline void ClearMapPoint() noexcept { map_point_.clear(); }
 
  static constexpr float kMapPointDistance{20.0f};
  static constexpr float kMapMinZ = {-10000000.0f};  
 
 private:
  std::vector<Vector3>
      map_point_;  
 
  static_assert(kMapPointDistance > 0.0f,
                "kMapPointDistanceは正の実数である必要があります.");
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_MAP_STATE_H_