class mrpt::math::CAtan2LookUpTableMultiRes

Overview

Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin.

Example of usage:

mrpt::math::CAtan2LookUpTableMultiRes atan2lut;
std::map<double,double> res2extension;
res2extension[0.001] = 0.5;  // 0.1 cm resolution up to 0.5 m
res2extension[0.01]  = 1.0;  //  1 cm resolution up to 1 m
res2extension[0.02]  = 3.0;  //  2 cm resolution up to 3 m
res2extension[0.05]  = 7.5;  //  5 cm resolution up to 7.5 m
res2extension[0.10]  = 12.0; // 10 cm resolution up to  12 m
atan2lut.resize(res2extension);

#include <mrpt/math/CAtan2LookUpTable.h>

class CAtan2LookUpTableMultiRes
{
public:
    // construction

    CAtan2LookUpTableMultiRes();
    CAtan2LookUpTableMultiRes(const std::map<double, double>& lst_resolutions2extensions);

    // methods

    void resize(const std::map<double, double>& lst_resolutions2extensions);
    bool atan2(double y, double x, double& out_atan2) const;
};

Construction

CAtan2LookUpTableMultiRes(const std::map<double, double>& lst_resolutions2extensions)

See CAtan2LookUpTableMultiRes for a discussion of the parameters.

Methods

void resize(const std::map<double, double>& lst_resolutions2extensions)

See CAtan2LookUpTableMultiRes for a discussion of the parameters.

bool atan2(double y, double x, double& out_atan2) const

Returns the precomputed value for atan2(y,x).

Returns:

false if out of grid bounds.