GridMap represents the gridbased map structure, where each cell can be accessed by its index. The Index is defined as pair of unsigned integers, which represent the discrete cell position in x and y direction without relation to the grid local frame. The Indexes are oriented to the grid borders and stars at the bottom low corner.

(TODO: add image of grid and local frame)

The size of the Grid Map is specified by two parameters:

• number of cells in x and y direction
• resolution of cells in x and y direction, where the resolution is expressed in the world units

Note: The world unit used in cell resolution should correspond to the world unit used in the transformation of local frame. (s. Local Map)

Grid Map realizes the access to a grid cell by index or by position, where the position is some point in the world. The projection of the world position into Grid Map to estimate the corresponding cell is done by taking into account the local grid frame, which is specified by offset in LocalMap.

GridMap allows to create any type of gridbased maps. The cell type stored in the map can be specified by the developer/user freely. Moreover, the default storage used in GridMap is std::vector, due to its computational efficiency. However, the memory storage can be also extended.