class

Robotics::SpatialReasoning::SpatialMap

Inherits Reference < Object

Manages spatial knowledge about the environment

Constants

NEAR_THRESHOLD = 2.0

Constructors

new

Instance methods

add_entity(entity : SpatialEntity)
entities
entities_within_radius(center : Position, radius : Float64) : Array(SpatialEntity)

Find entities within a radius

get_entity(id : String) : SpatialEntity | Nil
nearest_entity(pos : Position, exclude_id : String | Nil = nil) : SpatialEntity | Nil

Find the nearest entity to a position

relation_between(id1 : String, id2 : String) : SpatialRelation | Nil

Compute spatial relation between two entities

remove_entity(id : String) : Bool
to_atomspace(atomspace : AtomSpace::AtomSpace)

Store spatial knowledge in AtomSpace

update_pose(id : String, pose : Pose) : Bool