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mrpt::poses::CPose2DGridTemplate< T > Class Template Reference


Detailed Description

template<class T>
class mrpt::poses::CPose2DGridTemplate< T >

This is a template class for storing a 3D (2D+heading) grid containing any kind of data.

See also:

Definition at line 44 of file CPose2DGridTemplate.h.

#include <mrpt/poses/CPose2DGridTemplate.h>

Inheritance diagram for mrpt::poses::CPose2DGridTemplate< T >:
Inheritance graph
[legend]

List of all members.

Public Member Functions

size_t x2idx (double x) const
 Returns "indexes" from coordinates:
size_t y2idx (double y) const
 Returns "indexes" from coordinates:
size_t phi2idx (double phi) const
 Returns "indexes" from coordinates:
double idx2x (size_t x) const
 Returns coordinates from "indexes":
double idx2y (size_t y) const
 Returns coordinates from "indexes":
double idx2phi (size_t phi) const
 Returns coordinates from "indexes":
 CPose2DGridTemplate (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
 Default constructor:
virtual ~CPose2DGridTemplate ()
void setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
 Changes the limits and size of the grid, erasing previous contents:
const T * getByPos (double x, double y, double phi) const
 Reads the contents of a cell.
T * getByPos (double x, double y, double phi)
 Reads the contents of a cell.
const T * getByIndex (size_t x, size_t y, size_t phi) const
 Reads the contents of a cell.
T * getByIndex (size_t x, size_t y, size_t phi)
 Reads the contents of a cell.
void getAsMatrix (const double &phi, CMatrixTemplate< T > &outMat)
 Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".
double getXMin () const
 Get info about the grid:
double getXMax () const
double getYMin () const
double getYMax () const
double getPhiMin () const
double getPhiMax () const
double getResolutionXY () const
double getResolutionPhi () const
size_t getSizeX () const
size_t getSizeY () const
size_t getSizePhi () const

Protected Attributes

double m_xMin
 The limits and resolution of the grid:
double m_xMax
double m_yMin
double m_yMax
double m_phiMin
double m_phiMax
double m_resolutionXY
double m_resolutionPhi
size_t m_sizeX
 The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi.
size_t m_sizeY
size_t m_sizePhi
size_t m_sizeXY
int m_idxLeftX
 The indexes of the "left" borders:
int m_idxLeftY
int m_idxLeftPhi
std::vector< T > m_data
 The data:

Constructor & Destructor Documentation

template<class T>
mrpt::poses::CPose2DGridTemplate< T >::CPose2DGridTemplate ( double  xMin = -1.0f,
double  xMax = 1.0f,
double  yMin = -1.0f,
double  yMax = 1.0f,
double  resolutionXY = 0.5f,
double  resolutionPhi = DEG2RAD(180),
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
) [inline]

Default constructor:

Definition at line 120 of file CPose2DGridTemplate.h.

template<class T>
virtual mrpt::poses::CPose2DGridTemplate< T >::~CPose2DGridTemplate (  ) [inline, virtual]

Definition at line 141 of file CPose2DGridTemplate.h.


Member Function Documentation

template<class T>
void mrpt::poses::CPose2DGridTemplate< T >::getAsMatrix ( const double &  phi,
CMatrixTemplate< T > &  outMat 
) [inline]

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 223 of file CPose2DGridTemplate.h.

template<class T>
T* mrpt::poses::CPose2DGridTemplate< T >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
) [inline]

Reads the contents of a cell.

Definition at line 213 of file CPose2DGridTemplate.h.

template<class T>
const T* mrpt::poses::CPose2DGridTemplate< T >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
) const [inline]

Reads the contents of a cell.

Definition at line 203 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getByPos().

template<class T>
const T* mrpt::poses::CPose2DGridTemplate< T >::getByPos ( double  x,
double  y,
double  phi 
) const [inline]

Reads the contents of a cell.

Definition at line 189 of file CPose2DGridTemplate.h.

template<class T>
T* mrpt::poses::CPose2DGridTemplate< T >::getByPos ( double  x,
double  y,
double  phi 
) [inline]

Reads the contents of a cell.

Definition at line 196 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getPhiMax (  ) const [inline]

Definition at line 242 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getPhiMin (  ) const [inline]

Definition at line 241 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getResolutionPhi (  ) const [inline]

Definition at line 244 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getResolutionXY (  ) const [inline]

Definition at line 243 of file CPose2DGridTemplate.h.

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizePhi (  ) const [inline]

Definition at line 247 of file CPose2DGridTemplate.h.

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeX (  ) const [inline]

Definition at line 245 of file CPose2DGridTemplate.h.

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeY (  ) const [inline]

Definition at line 246 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getXMax (  ) const [inline]

Definition at line 238 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getXMin (  ) const [inline]

Get info about the grid:

Definition at line 237 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getYMax (  ) const [inline]

Definition at line 240 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::getYMin (  ) const [inline]

Definition at line 239 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::idx2phi ( size_t  phi ) const [inline]

Returns coordinates from "indexes":

Definition at line 112 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::idx2x ( size_t  x ) const [inline]

Returns coordinates from "indexes":

Definition at line 96 of file CPose2DGridTemplate.h.

template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::idx2y ( size_t  y ) const [inline]

Returns coordinates from "indexes":

Definition at line 104 of file CPose2DGridTemplate.h.

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::phi2idx ( double  phi ) const [inline]
template<class T>
void mrpt::poses::CPose2DGridTemplate< T >::setSize ( double  xMin,
double  xMax,
double  yMin,
double  yMax,
double  resolutionXY,
double  resolutionPhi,
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
) [inline]

Changes the limits and size of the grid, erasing previous contents:

Definition at line 146 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::CPose2DGridTemplate().

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::x2idx ( double  x ) const [inline]

Returns "indexes" from coordinates:

Definition at line 69 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getByPos().

template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::y2idx ( double  y ) const [inline]

Returns "indexes" from coordinates:

Definition at line 78 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getByPos().


Member Data Documentation

template<class T>
std::vector<T> mrpt::poses::CPose2DGridTemplate< T >::m_data [protected]
template<class T>
int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftPhi [protected]
template<class T>
int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftX [protected]

The indexes of the "left" borders:

Definition at line 60 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::setSize().

template<class T>
int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftY [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_phiMax [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_phiMin [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY [protected]
template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi [protected]
template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeX [protected]
template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY [protected]
template<class T>
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeY [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_xMax [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_xMin [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_yMax [protected]
template<class T>
double mrpt::poses::CPose2DGridTemplate< T >::m_yMin [protected]



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