This is a template class for storing a 3D (2D+heading) grid containing any kind of data.
Definition at line 44 of file CPose2DGridTemplate.h.
#include <mrpt/poses/CPose2DGridTemplate.h>
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: |
mrpt::poses::CPose2DGridTemplate< T >::CPose2DGridTemplate | ( | double | xMin = -1.0f , |
double | xMax = 1.0f , |
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double | yMin = -1.0f , |
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double | yMax = 1.0f , |
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double | resolutionXY = 0.5f , |
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double | resolutionPhi = DEG2RAD(180) , |
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double | phiMin = -M_PIf , |
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double | phiMax = M_PIf |
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) | [inline] |
Default constructor:
Definition at line 120 of file CPose2DGridTemplate.h.
virtual mrpt::poses::CPose2DGridTemplate< T >::~CPose2DGridTemplate | ( | ) | [inline, virtual] |
Definition at line 141 of file CPose2DGridTemplate.h.
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.
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.
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().
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.
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.
double mrpt::poses::CPose2DGridTemplate< T >::getPhiMax | ( | ) | const [inline] |
Definition at line 242 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getPhiMin | ( | ) | const [inline] |
Definition at line 241 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getResolutionPhi | ( | ) | const [inline] |
Definition at line 244 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getResolutionXY | ( | ) | const [inline] |
Definition at line 243 of file CPose2DGridTemplate.h.
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizePhi | ( | ) | const [inline] |
Definition at line 247 of file CPose2DGridTemplate.h.
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeX | ( | ) | const [inline] |
Definition at line 245 of file CPose2DGridTemplate.h.
size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeY | ( | ) | const [inline] |
Definition at line 246 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getXMax | ( | ) | const [inline] |
Definition at line 238 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getXMin | ( | ) | const [inline] |
Get info about the grid:
Definition at line 237 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getYMax | ( | ) | const [inline] |
Definition at line 240 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::getYMin | ( | ) | const [inline] |
Definition at line 239 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::idx2phi | ( | size_t | phi | ) | const [inline] |
Returns coordinates from "indexes":
Definition at line 112 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::idx2x | ( | size_t | x | ) | const [inline] |
Returns coordinates from "indexes":
Definition at line 96 of file CPose2DGridTemplate.h.
double mrpt::poses::CPose2DGridTemplate< T >::idx2y | ( | size_t | y | ) | const [inline] |
Returns coordinates from "indexes":
Definition at line 104 of file CPose2DGridTemplate.h.
size_t mrpt::poses::CPose2DGridTemplate< T >::phi2idx | ( | double | phi | ) | const [inline] |
Returns "indexes" from coordinates:
Definition at line 87 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), and mrpt::poses::CPose2DGridTemplate< double >::getByPos().
void mrpt::poses::CPose2DGridTemplate< T >::setSize | ( | double | xMin, |
double | xMax, | ||
double | yMin, | ||
double | yMax, | ||
double | resolutionXY, | ||
double | resolutionPhi, | ||
double | phiMin = -M_PIf , |
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double | phiMax = M_PIf |
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) | [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().
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().
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().
std::vector<T> mrpt::poses::CPose2DGridTemplate< T >::m_data [protected] |
The data:
Definition at line 64 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose2DGridTemplate< double >::getByIndex(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftPhi [protected] |
Definition at line 60 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::setSize().
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().
int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftY [protected] |
Definition at line 60 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::setSize().
double mrpt::poses::CPose2DGridTemplate< T >::m_phiMax [protected] |
Definition at line 49 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getPhiMax(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
double mrpt::poses::CPose2DGridTemplate< T >::m_phiMin [protected] |
double mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi [protected] |
double mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY [protected] |
Definition at line 49 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY(), mrpt::poses::CPose2DGridTemplate< double >::idx2x(), mrpt::poses::CPose2DGridTemplate< double >::idx2y(), mrpt::poses::CPose2DGridTemplate< double >::setSize(), mrpt::poses::CPose2DGridTemplate< double >::x2idx(), and mrpt::poses::CPose2DGridTemplate< double >::y2idx().
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi [protected] |
Definition at line 56 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose2DGridTemplate< double >::getByIndex(), mrpt::poses::CPose2DGridTemplate< double >::getSizePhi(), mrpt::poses::CPose2DGridTemplate< double >::idx2phi(), mrpt::poses::CPose2DGridTemplate< double >::phi2idx(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeX [protected] |
The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi.
Definition at line 56 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose2DGridTemplate< double >::getByIndex(), mrpt::poses::CPose2DGridTemplate< double >::getSizeX(), mrpt::poses::CPose2DGridTemplate< double >::idx2x(), mrpt::poses::CPose2DGridTemplate< double >::setSize(), and mrpt::poses::CPose2DGridTemplate< double >::x2idx().
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY [protected] |
Definition at line 56 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose2DGridTemplate< double >::getByIndex(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
size_t mrpt::poses::CPose2DGridTemplate< T >::m_sizeY [protected] |
Definition at line 56 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose2DGridTemplate< double >::getByIndex(), mrpt::poses::CPose2DGridTemplate< double >::getSizeY(), mrpt::poses::CPose2DGridTemplate< double >::idx2y(), mrpt::poses::CPose2DGridTemplate< double >::setSize(), and mrpt::poses::CPose2DGridTemplate< double >::y2idx().
double mrpt::poses::CPose2DGridTemplate< T >::m_xMax [protected] |
Definition at line 49 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getXMax(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
double mrpt::poses::CPose2DGridTemplate< T >::m_xMin [protected] |
The limits and resolution of the grid:
Definition at line 49 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getXMin(), mrpt::poses::CPose2DGridTemplate< double >::idx2x(), mrpt::poses::CPose2DGridTemplate< double >::setSize(), and mrpt::poses::CPose2DGridTemplate< double >::x2idx().
double mrpt::poses::CPose2DGridTemplate< T >::m_yMax [protected] |
Definition at line 49 of file CPose2DGridTemplate.h.
Referenced by mrpt::poses::CPose2DGridTemplate< double >::getYMax(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().
double mrpt::poses::CPose2DGridTemplate< T >::m_yMin [protected] |
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