Detailed Description

template<class T>
class mrpt::poses::CPose3DGridTemplate< T >

This is a template class for storing a 6-dimensional grid, with components corresponding to Euler angle parameterization of SE(3) poses.

poses_pdf_grp

Definition at line 23 of file CPose3DGridTemplate.h.

#include <mrpt/poses/CPose3DGridTemplate.h>

Inheritance diagram for mrpt::poses::CPose3DGridTemplate< T >:

Public Member Functions
	CPose3DGridTemplate (const mrpt::math::TPose3D &bb_min=mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 M_PI, -.5 M_PI), const mrpt::math::TPose3D &bb_max=mrpt::math::TPose3D(1., 1., 1., M_PI,.5 M_PI,.5 M_PI), double resolution_XYZ=0.10, double resolution_YPR=mrpt::DEG2RAD(10.0))
	Default constructor: More...

virtual	~CPose3DGridTemplate ()=default

void	setSize (const mrpt::math::TPose3D &bb_min, const mrpt::math::TPose3D &bb_max, double resolution_XYZ, double resolution_YPR)
	Changes the limits and size of the grid, erasing previous contents: More...

const T *	getByPos (double x, double y, double z, double yaw, double pitch, double roll) const
	Reads the contents of a cell. More...

T *	getByPos (double x, double y, double z, double yaw, double pitch, double roll)

const T *	getByPos (const mrpt::math::TPose3D &p) const

T *	getByPos (const mrpt::math::TPose3D &p)

const T *	getByIndex (int cx, int cy, int cz, int cY, int cP, int cR) const
	Reads the contents of a cell. More...

T *	getByIndex (int cx, int cy, int cz, int cY, int cP, int cR)

template<class MATRIXLIKE >
void	getAsMatrix (MATRIXLIKE &outMat, const double z, const double yaw, const double pitch, const double roll) const
	Returns a XY slice of the grid, for given constant z,yaw, pitch and roll. More...

mrpt::math::TPose3D	getMinBoundingBox () const
	Get info about the 6D grid. More...

mrpt::math::TPose3D	getMaxBoundingBox () const

double	getResolutionXYZ () const

double	getResolutionAngles () const

void	fill (const T &val)

auto	getSizeX () const

auto	getSizeY () const

auto	getSizeZ () const

auto	getSizeYaw () const

auto	getSizePitch () const

auto	getSizeRoll () const

auto	getTotalVoxelCount () const

const std::vector< T > &	getData () const

std::vector< T > &	getData ()

Return "indexes" from coordinates
int	x2idx (double x) const

int	y2idx (double y) const

int	z2idx (double z) const

int	yaw2idx (double yaw) const

int	pitch2idx (double pitch) const

int	roll2idx (double roll) const

Return coordinates from "indexes"
double	idx2x (uint32_t cx) const

double	idx2y (uint32_t cy) const

double	idx2z (uint32_t cz) const

double	idx2yaw (uint32_t cY) const

double	idx2pitch (uint32_t cP) const

double	idx2roll (uint32_t cR) const

Protected Types
using	self_t = CPose3DGridTemplate< T >

Protected Member Functions
void	update_cached_size_products ()

Protected Attributes
mrpt::math::TPose3D	m_bb_min {-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI}

mrpt::math::TPose3D	m_bb_max {+1., +1., +1., +M_PI, +.5 * M_PI, +.5 * M_PI}

double	m_resolutionXYZ {0.20}
	Resolution of the grid. More...

double	m_resolutionYPR {mrpt::DEG2RAD(10.0)}

uint32_t	m_sizeX {0}

uint32_t	m_sizeY {0}

uint32_t	m_sizeZ {0}

uint32_t	m_sizeYaw {0}

uint32_t	m_sizePitch {0}

uint32_t	m_sizeRoll {0}

uint32_t	m_size_xy

uint32_t	m_size_xyz

uint32_t	m_size_xyzY

uint32_t	m_size_xyzYP

uint32_t	m_size_xyzYPR

int	m_min_cidX
	Minimum "cell indexes" for each coordinate. More...

int	m_min_cidY

int	m_min_cidZ

int	m_min_cidYaw

int	m_min_cidPitch

int	m_min_cidRoll

std::vector< T >	m_data
	The data. More...

Member Typedef Documentation

◆ self_t

template<class T>

using mrpt::poses::CPose3DGridTemplate< T >::self_t = CPose3DGridTemplate<T>

protected

Definition at line 26 of file CPose3DGridTemplate.h.

Constructor & Destructor Documentation

◆ CPose3DGridTemplate()

template<class T>

mrpt::poses::CPose3DGridTemplate< T >::CPose3DGridTemplate	(	const mrpt::math::TPose3D &	bb_min = `mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI)`,
		const mrpt::math::TPose3D &	bb_max = `mrpt::math::TPose3D(1., 1., 1., M_PI, .5 * M_PI, .5 * M_PI)`,
		double	resolution_XYZ = `0.10`,
		double	resolution_YPR = `mrpt::DEG2RAD(10.0)`
	)

inline

Default constructor:

Definition at line 69 of file CPose3DGridTemplate.h.

◆ ~CPose3DGridTemplate()

template<class T>

virtual mrpt::poses::CPose3DGridTemplate< T >::~CPose3DGridTemplate ( )

virtualdefault

Member Function Documentation

◆ fill()

template<class T>

void mrpt::poses::CPose3DGridTemplate< T >::fill ( const T & val )

inline

Definition at line 281 of file CPose3DGridTemplate.h.

◆ getAsMatrix()

template<class T>

template<class MATRIXLIKE >

void mrpt::poses::CPose3DGridTemplate< T >::getAsMatrix	(	MATRIXLIKE &	outMat,
		const double	z,
		const double	yaw,
		const double	pitch,
		const double	roll
	)		const

inline

Returns a XY slice of the grid, for given constant z,yaw, pitch and roll.

Definition at line 256 of file CPose3DGridTemplate.h.

◆ getByIndex() [1/2]

template<class T>

const T* mrpt::poses::CPose3DGridTemplate< T >::getByIndex	(	int	cx,
		int	cy,
		int	cz,
		int	cY,
		int	cP,
		int	cR
	)		const

inline

Reads the contents of a cell.

Definition at line 233 of file CPose3DGridTemplate.h.

Referenced by mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose3DGridTemplate< double >::getByIndex(), and mrpt::poses::CPose3DGridTemplate< double >::getByPos().

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◆ getByIndex() [2/2]

template<class T>

T* mrpt::poses::CPose3DGridTemplate< T >::getByIndex	(	int	cx,
		int	cy,
		int	cz,
		int	cY,
		int	cP,
		int	cR
	)

inline

Definition at line 246 of file CPose3DGridTemplate.h.

◆ getByPos() [1/4]

template<class T>

const T* mrpt::poses::CPose3DGridTemplate< T >::getByPos	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll
	)		const

inline

Reads the contents of a cell.

Definition at line 206 of file CPose3DGridTemplate.h.

Referenced by mrpt::poses::CPose3DGridTemplate< double >::getByPos().

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◆ getByPos() [2/4]

template<class T>

T* mrpt::poses::CPose3DGridTemplate< T >::getByPos	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll
	)

inline

Definition at line 215 of file CPose3DGridTemplate.h.

◆ getByPos() [3/4]

template<class T>

const T* mrpt::poses::CPose3DGridTemplate< T >::getByPos ( const mrpt::math::TPose3D & p ) const

inline

Definition at line 222 of file CPose3DGridTemplate.h.

◆ getByPos() [4/4]

template<class T>

T* mrpt::poses::CPose3DGridTemplate< T >::getByPos ( const mrpt::math::TPose3D & p )

inline

Definition at line 227 of file CPose3DGridTemplate.h.

◆ getData() [1/2]

template<class T>

const std::vector<T>& mrpt::poses::CPose3DGridTemplate< T >::getData ( ) const

inline

Definition at line 295 of file CPose3DGridTemplate.h.

◆ getData() [2/2]

template<class T>

std::vector<T>& mrpt::poses::CPose3DGridTemplate< T >::getData ( )

inline

Definition at line 296 of file CPose3DGridTemplate.h.

◆ getMaxBoundingBox()

template<class T>

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< T >::getMaxBoundingBox ( ) const

inline

Definition at line 276 of file CPose3DGridTemplate.h.

◆ getMinBoundingBox()

template<class T>

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< T >::getMinBoundingBox ( ) const

inline

Get info about the 6D grid.

Definition at line 275 of file CPose3DGridTemplate.h.

◆ getResolutionAngles()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::getResolutionAngles ( ) const

inline

Definition at line 279 of file CPose3DGridTemplate.h.

◆ getResolutionXYZ()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::getResolutionXYZ ( ) const

inline

Definition at line 278 of file CPose3DGridTemplate.h.

◆ getSizePitch()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizePitch ( ) const

inline

Definition at line 290 of file CPose3DGridTemplate.h.

◆ getSizeRoll()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizeRoll ( ) const

inline

Definition at line 291 of file CPose3DGridTemplate.h.

◆ getSizeX()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizeX ( ) const

inline

Definition at line 286 of file CPose3DGridTemplate.h.

◆ getSizeY()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizeY ( ) const

inline

Definition at line 287 of file CPose3DGridTemplate.h.

◆ getSizeYaw()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizeYaw ( ) const

inline

Definition at line 289 of file CPose3DGridTemplate.h.

◆ getSizeZ()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getSizeZ ( ) const

inline

Definition at line 288 of file CPose3DGridTemplate.h.

◆ getTotalVoxelCount()

template<class T>

auto mrpt::poses::CPose3DGridTemplate< T >::getTotalVoxelCount ( ) const

inline

Definition at line 293 of file CPose3DGridTemplate.h.

◆ idx2pitch()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2pitch ( uint32_t cP ) const

inline

Definition at line 147 of file CPose3DGridTemplate.h.

◆ idx2roll()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2roll ( uint32_t cR ) const

inline

Definition at line 152 of file CPose3DGridTemplate.h.

◆ idx2x()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2x ( uint32_t cx ) const

inline

Definition at line 126 of file CPose3DGridTemplate.h.

◆ idx2y()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2y ( uint32_t cy ) const

inline

Definition at line 131 of file CPose3DGridTemplate.h.

◆ idx2yaw()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2yaw ( uint32_t cY ) const

inline

Definition at line 142 of file CPose3DGridTemplate.h.

◆ idx2z()

template<class T>

double mrpt::poses::CPose3DGridTemplate< T >::idx2z ( uint32_t cz ) const

inline

Definition at line 136 of file CPose3DGridTemplate.h.

◆ pitch2idx()

template<class T>

int mrpt::poses::CPose3DGridTemplate< T >::pitch2idx ( double pitch ) const

inline

Definition at line 109 of file CPose3DGridTemplate.h.

Referenced by mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix(), and mrpt::poses::CPose3DGridTemplate< double >::getByPos().

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◆ roll2idx()

template<class T>

int mrpt::poses::CPose3DGridTemplate< T >::roll2idx ( double roll ) const

inline

Definition at line 115 of file CPose3DGridTemplate.h.

Referenced by mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix(), and mrpt::poses::CPose3DGridTemplate< double >::getByPos().

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◆ setSize()

template<class T>

void mrpt::poses::CPose3DGridTemplate< T >::setSize	(	const mrpt::math::TPose3D &	bb_min,
		const mrpt::math::TPose3D &	bb_max,
		double	resolution_XYZ,
		double	resolution_YPR
	)