Class NavMapGridNode

A node in the NavMap

Leaf nodes contain content, all other nodes are split into 4 equally sized children.

Child node indices are stored in the following X,Y orientation:

+---+----+---+ | ^ | 2 | 0 | +---+----+---+ | Y | 3 | 1 | +---+----+---+ | | X->| | +---+----+---+

Inheritance

Object

NavMapGridNode

NavMapGrid

Namespace: Anki.Vector.Types

Assembly: Anki.Vector.dll

Syntax

public class NavMapGridNode

Properties

Center

Gets the center of this node.

public Vector3 Center { get; }

Property Type

Vector3

Children

Gets the child nodes of this node

public IEnumerable<NavMapGridNode> Children { get; }

Property Type

IEnumerable<NavMapGridNode>

ColorRgba

Gets the color of the node in RGBA.

public uint ColorRgba { get; }

Property Type

UInt32

Content

Gets the content type in this node. Only leaf nodes have content, this is null for all other nodes.

public NavNodeContentType? Content { get; }

Property Type

Nullable<NavNodeContentType>

Depth

Gets the depth of this node (i.e. how far down the quad-tree it is).

public int Depth { get; }

Property Type

Int32

HasChildren

Gets a value indicating whether this instance has child nodes.

public bool HasChildren { get; }

Property Type

Boolean

Parent

Gets the parent of this node. Is null for the root node.

public NavMapGridNode Parent { get; }

Property Type

NavMapGridNode

Size

Gets the size (width or length) of this square node in mm.

public float Size { get; }

Property Type

Single

Methods

ContainsPoint(Single, Single)

Test if the node contains the given x,y coordinates.

public bool ContainsPoint(float x, float y)

Parameters

Type	Name	Description
Single	x	The x coordinate for the point.
Single	y	The y coordinate for the point.

Returns

Type	Description
Boolean	true if the node contains point; otherwise, false.

GetContent(Single, Single)

Get the node's content at the given x,y coordinates.

public NavNodeContentType GetContent(float x, float y)

Parameters

Type	Name	Description
Single	x	The x coordinate for the point.
Single	y	The y coordinate for the point.

Returns

Type	Description
NavNodeContentType	The content included at that point. Will be NavNodeUnknown if point is outside the map.

GetNode(Single, Single)

Get the node at the given x, y coordinates.

public NavMapGridNode GetNode(float x, float y)

Parameters

Type	Name	Description
Single	x	The x coordinate for the point.
Single	y	The y coordinate for the point.

Returns

Type	Description
NavMapGridNode	The smallest node that includes the point. Will return null if point is outside the map.