本文整理汇总了C++中unsigned::nodeInfo方法的典型用法代码示例。如果您正苦于以下问题：C++ unsigned::nodeInfo方法的具体用法？C++ unsigned::nodeInfo怎么用？C++ unsigned::nodeInfo使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类unsigned的用法示例。
在下文中一共展示了unsigned::nodeInfo方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
pair<Nodes, PointVec>
nodesOnGrid (const unsigned g, const Roadmap& r,
const tmap::TopologicalMap& tmap)
{
pair<Nodes, PointVec> res;
// Add all nodes defined wrt this grid
BOOST_FOREACH (const unsigned n, r.gridNodes(g))
{
res.first.push_back(n);
res.second.push_back(r.nodeInfo(n).position);
}
const double x_size = tmap.nodeInfo(g).x_size;
const double y_size = tmap.nodeInfo(g).y_size;
// Also look at neighboring grids in topological graph
BOOST_FOREACH (const tmap::GraphEdge e,
out_edges(tmap.node(g), tmap))
{
const bool flip = (tmap[e].dest == g);
const tf::Pose offset = gmu::toPose(tmap[e].offset);
const tf::Transform tr = flip ? offset.inverse() : offset;
const unsigned g2 = flip ? tmap[e].src : tmap[e].dest;
// Now tr maps from the neighbor grid g2 to g
BOOST_FOREACH (const unsigned n, r.gridNodes(g2))
{
ROS_ASSERT(g2==r.nodeInfo(n).grid);
const gm::Point& pos = r.nodeInfo(n).position;
const gm::Point local_pos = gmu::transformPoint(tr, pos);
// Now local_pos is the position of the waypoint in frame g
ROS_DEBUG_STREAM_NAMED ("nodes_on_grid", "Node " << n << " position on " << g2 << " is "
<< gmu::toString(pos) << " and on " << g <<
" is " << gmu::toString(local_pos));
if (fabs(local_pos.x) < x_size/2 && fabs(local_pos.y) < y_size/2)
{
ROS_DEBUG_NAMED ("nodes_on_grid", "On grid");
res.first.push_back(n);
res.second.push_back(local_pos);
}
}
}
return res;
}