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 >:

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:

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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.

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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]

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().

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().

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Member Data Documentation

template<class T>

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().

template<class T>

int mrpt::poses::CPose2DGridTemplate< T >::m_idxLeftPhi [protected]

Definition at line 60 of file CPose2DGridTemplate.h.

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

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]

Definition at line 60 of file CPose2DGridTemplate.h.

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

template<class T>

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().

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::m_phiMin [protected]

Definition at line 49 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getPhiMin(), mrpt::poses::CPose2DGridTemplate< double >::idx2phi(), mrpt::poses::CPose2DGridTemplate< double >::phi2idx(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi [protected]

Definition at line 49 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi(), mrpt::poses::CPose2DGridTemplate< double >::idx2phi(), mrpt::poses::CPose2DGridTemplate< double >::phi2idx(), and mrpt::poses::CPose2DGridTemplate< double >::setSize().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

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().

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::m_yMin [protected]

Definition at line 49 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getYMin(), mrpt::poses::CPose2DGridTemplate< double >::idx2y(), mrpt::poses::CPose2DGridTemplate< double >::setSize(), and mrpt::poses::CPose2DGridTemplate< double >::y2idx().