Detailed Description

A smart look-up-table (LUT) of sin/cos values for 2D laser scans.

Refer to the main method CSinCosLookUpTableFor2DScans::getSinCosForScan()

This class is used in mrpt::maps::CPointsMap

Definition at line 27 of file CSinCosLookUpTableFor2DScans.h.

#include <mrpt/obs/CSinCosLookUpTableFor2DScans.h>

Classes
struct	TSinCosValues
	A pair of vectors with the cos and sin values. More...

Public Member Functions
	CSinCosLookUpTableFor2DScans ()=default

	CSinCosLookUpTableFor2DScans (const CSinCosLookUpTableFor2DScans &)
	Do NOT copy neither the cache nor the mutex. More...

CSinCosLookUpTableFor2DScans &	operator= (const CSinCosLookUpTableFor2DScans &)

const TSinCosValues &	getSinCosForScan (const CObservation2DRangeScan &scan) const
	Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest. More...

const TSinCosValues &	getSinCosForScan (const T2DScanProperties &scan_prop) const
	Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest. More...

Private Attributes
std::map< T2DScanProperties, TSinCosValues >	m_cache
	The cache of known scans and their sin/cos tables. More...

std::recursive_mutex	m_cache_mtx

Constructor & Destructor Documentation

◆ CSinCosLookUpTableFor2DScans() [1/2]

mrpt::obs::CSinCosLookUpTableFor2DScans::CSinCosLookUpTableFor2DScans ( )

default

◆ CSinCosLookUpTableFor2DScans() [2/2]

mrpt::obs::CSinCosLookUpTableFor2DScans::CSinCosLookUpTableFor2DScans ( const CSinCosLookUpTableFor2DScans & )

inline

Do NOT copy neither the cache nor the mutex.

Definition at line 32 of file CSinCosLookUpTableFor2DScans.h.

Member Function Documentation

◆ getSinCosForScan() [1/2]

const CSinCosLookUpTableFor2DScans::TSinCosValues & CSinCosLookUpTableFor2DScans::getSinCosForScan ( const CObservation2DRangeScan & scan ) const

Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest.

Usage:

  CSinCosLookUpTableFor2DScans cache;
  ...
  const CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals =
cache.getSinCosForScan( scan );

Definition at line 24 of file CSinCosLookUpTableFor2DScans.cpp.

References mrpt::obs::CObservation2DRangeScan::getScanProperties().

Referenced by velodyne_scan_to_pointcloud().

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◆ getSinCosForScan() [2/2]

const CSinCosLookUpTableFor2DScans::TSinCosValues & CSinCosLookUpTableFor2DScans::getSinCosForScan ( const T2DScanProperties & scan_prop ) const

Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest.

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 37 of file CSinCosLookUpTableFor2DScans.cpp.

References mrpt::obs::T2DScanProperties::aperture, ASSERT_, mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues::ccos, mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues::csin, mrpt::d2f(), mrpt::lockHelper(), mrpt::obs::T2DScanProperties::nRays, mrpt::math::CVectorDynamic< T >::resize(), and mrpt::obs::T2DScanProperties::rightToLeft.

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