Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::utils::CDynamicGrid< T > Class Template Reference

Detailed Description

template<class T>
class mrpt::utils::CDynamicGrid< T >

A 2D grid of dynamic size which stores any kind of data at each cell.

Template Parameters
TThe type of each cell in the 2D grid.

Definition at line 40 of file CDynamicGrid.h.

#include <mrpt/utils/CDynamicGrid.h>

Inheritance diagram for mrpt::utils::CDynamicGrid< T >:
Inheritance graph

Public Member Functions

 CDynamicGrid (double x_min=-10.0, double x_max=10.0, double y_min=-10.0f, double y_max=10.0f, double resolution=0.10f)
 Constructor. More...
 
virtual ~CDynamicGrid ()
 Destructor. More...
 
void setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const T *fill_value=NULL)
 Changes the size of the grid, ERASING all previous contents. More...
 
void clear ()
 Erase the contents of all the cells. More...
 
void fill (const T &value)
 Fills all the cells with the same value. More...
 
virtual void resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const T &defaultValueNewCells, double additionalMarginMeters=2.0)
 Changes the size of the grid, maintaining previous contents. More...
 
T * cellByPos (double x, double y)
 Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. More...
 
const T * cellByPos (double x, double y) const
 
T * cellByIndex (unsigned int cx, unsigned int cy)
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
const T * cellByIndex (unsigned int cx, unsigned int cy) const
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
size_t getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
size_t getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
double getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
double getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
double getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
double getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
double getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (double x) const
 Transform a coordinate values into cell indexes. More...
 
int y2idx (double y) const
 
int xy2idx (double x, double y) const
 
void idx2cxcy (const int &idx, int &cx, int &cy) const
 Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...
 
double idx2x (int cx) const
 Transform a cell index into a coordinate value of the cell central point. More...
 
double idx2y (int cy) const
 
template<class MAT >
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
virtual float cell2float (const T &c) const
 The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 

Protected Member Functions

std::vector< T > & m_map_castaway_const () const
 Used only from logically const method that really need to modify the object. More...
 
void dyngridcommon_writeToStream (mrpt::utils::CStream &out) const
 
void dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)
 

Protected Attributes

std::vector< T > m_map
 The cells. More...
 
double m_x_min
 
double m_x_max
 
double m_y_min
 
double m_y_max
 
double m_resolution
 
size_t m_size_x
 
size_t m_size_y
 

Constructor & Destructor Documentation

template<class T>
mrpt::utils::CDynamicGrid< T >::CDynamicGrid ( double  x_min = -10.0,
double  x_max = 10.0,
double  y_min = -10.0f,
double  y_max = 10.0f,
double  resolution = 0.10f 
)
inline

Constructor.

Definition at line 52 of file CDynamicGrid.h.

template<class T>
virtual mrpt::utils::CDynamicGrid< T >::~CDynamicGrid ( )
inlinevirtual

Destructor.

Definition at line 60 of file CDynamicGrid.h.

Member Function Documentation

template<class T>
virtual float mrpt::utils::CDynamicGrid< T >::cell2float ( const T &  c) const
inlinevirtual

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Reimplemented in mrpt::maps::CReflectivityGridMap2D.

Definition at line 274 of file CDynamicGrid.h.

template<class T>
T* mrpt::utils::CDynamicGrid< T >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
)
inline
template<class T>
const T* mrpt::utils::CDynamicGrid< T >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
) const
inline

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 212 of file CDynamicGrid.h.

template<class T>
T* mrpt::utils::CDynamicGrid< T >::cellByPos ( double  x,
double  y 
)
inline
template<class T>
const T* mrpt::utils::CDynamicGrid< T >::cellByPos ( double  x,
double  y 
) const
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 192 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::clear ( )
inline
template<class T>
void mrpt::utils::CDynamicGrid< T >::dyngridcommon_readFromStream ( mrpt::utils::CStream in,
bool  cast_from_float = false 
)
inlineprotected

Definition at line 300 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::dyngridcommon_writeToStream ( mrpt::utils::CStream out) const
inlineprotected

Definition at line 295 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::fill ( const T &  value)
inline

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear(), and mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

template<class T>
template<class MAT >
void mrpt::utils::CDynamicGrid< T >::getAsMatrix ( MAT &  m) const
inline

Get the entire grid as a matrix.

Template Parameters
MATThe type of the matrix, typically a mrpt::math::CMatrixDouble.
Parameters
[out]mThe output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).
Note
This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 263 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::getResolution ( ) const
inline

Returns the resolution of the grid map.

Definition at line 238 of file CDynamicGrid.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::math::CAtan2LookUpTable::resize().

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::getSizeX ( ) const
inline
template<class T>
size_t mrpt::utils::CDynamicGrid< T >::getSizeY ( ) const
inline
template<class T>
double mrpt::utils::CDynamicGrid< T >::getXMax ( ) const
inline

Returns the "x" coordinate of right side of grid map.

Definition at line 229 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified(), and mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back().

template<class T>
double mrpt::utils::CDynamicGrid< T >::getXMin ( ) const
inline

Returns the "x" coordinate of left side of grid map.

Definition at line 226 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified(), and mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back().

template<class T>
double mrpt::utils::CDynamicGrid< T >::getYMax ( ) const
inline

Returns the "y" coordinate of bottom side of grid map.

Definition at line 235 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified(), and mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back().

template<class T>
double mrpt::utils::CDynamicGrid< T >::getYMin ( ) const
inline

Returns the "y" coordinate of top side of grid map.

Definition at line 232 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified(), and mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back().

template<class T>
void mrpt::utils::CDynamicGrid< T >::idx2cxcy ( const int idx,
int cx,
int cy 
) const
inline

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 246 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::idx2x ( int  cx) const
inline

Transform a cell index into a coordinate value of the cell central point.

Definition at line 253 of file CDynamicGrid.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::CAtan2LookUpTable::resize(), and mrpt::math::CAtan2LookUpTableMultiRes::resize().

template<class T>
double mrpt::utils::CDynamicGrid< T >::idx2y ( int  cy) const
inline
template<class T>
std::vector<T>& mrpt::utils::CDynamicGrid< T >::m_map_castaway_const ( ) const
inlineprotected

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

template<class T>
virtual void mrpt::utils::CDynamicGrid< T >::resize ( double  new_x_min,
double  new_x_max,
double  new_y_min,
double  new_y_max,
const T &  defaultValueNewCells,
double  additionalMarginMeters = 2.0 
)
inlinevirtual
template<class T>
bool mrpt::utils::CDynamicGrid< T >::saveToTextFile ( const std::string fileName) const
inline

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns
false on error

Definition at line 280 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::setSize ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  resolution,
const T *  fill_value = NULL 
)
inline

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See also
resize, fill

Definition at line 69 of file CDynamicGrid.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::math::CAtan2LookUpTable::resize().

template<class T>
int mrpt::utils::CDynamicGrid< T >::x2idx ( double  x) const
inline

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

template<class T>
int mrpt::utils::CDynamicGrid< T >::xy2idx ( double  x,
double  y 
) const
inline

Definition at line 243 of file CDynamicGrid.h.

template<class T>
int mrpt::utils::CDynamicGrid< T >::y2idx ( double  y) const
inline

Member Data Documentation

template<class T>
std::vector<T> mrpt::utils::CDynamicGrid< T >::m_map
protected

The cells.

Definition at line 43 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::m_resolution
protected

Definition at line 47 of file CDynamicGrid.h.

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::m_size_x
protected

Definition at line 48 of file CDynamicGrid.h.

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::m_size_y
protected

Definition at line 48 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::m_x_max
protected

Definition at line 47 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::m_x_min
protected

Definition at line 47 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::m_y_max
protected

Definition at line 47 of file CDynamicGrid.h.

template<class T>
double mrpt::utils::CDynamicGrid< T >::m_y_min
protected

Definition at line 47 of file CDynamicGrid.h.




Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018