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.

Definition at line 25 of file CPose2DGridTemplate.h.

#include <mrpt/poses/CPose2DGridTemplate.h>

Inheritance diagram for mrpt::poses::CPose2DGridTemplate< T >:

Public Member Functions
size_t	x2idx (double x) const
	Returns "indexes" from coordinates: More...

size_t	y2idx (double y) const
	Returns "indexes" from coordinates: More...

size_t	phi2idx (double phi) const
	Returns "indexes" from coordinates: More...

double	idx2x (size_t x) const
	Returns coordinates from "indexes": More...

double	idx2y (size_t y) const
	Returns coordinates from "indexes": More...

double	idx2phi (size_t phi) const
	Returns coordinates from "indexes": More...

	CPose2DGridTemplate (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::utils::DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
	Default constructor: More...

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: More...

const T *	getByPos (double x, double y, double phi) const
	Reads the contents of a cell. More...

T *	getByPos (double x, double y, double phi)
	Reads the contents of a cell. More...

const T *	getByIndex (size_t x, size_t y, size_t phi) const
	Reads the contents of a cell. More...

T *	getByIndex (size_t x, size_t y, size_t phi)
	Reads the contents of a cell. More...

template<class MATRIXLIKE >
void	getAsMatrix (const double &phi, MATRIXLIKE &outMat)
	Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More...

double	getXMin () const
	Get info about the grid: More...

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: More...

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. More...

size_t	m_sizeY

size_t	m_sizePhi

size_t	m_sizeXY

int	m_idxLeftX
	The indexes of the "left" borders: More...

int	m_idxLeftY

int	m_idxLeftPhi

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

Constructor & Destructor Documentation

◆ CPose2DGridTemplate()

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 = `mrpt::utils::DEG2RAD(180)`,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

inline

Default constructor:

Definition at line 99 of file CPose2DGridTemplate.h.

◆ ~CPose2DGridTemplate()

template<class T>

virtual mrpt::poses::CPose2DGridTemplate< T >::~CPose2DGridTemplate ( )

inlinevirtual

Definition at line 126 of file CPose2DGridTemplate.h.

Member Function Documentation

◆ getAsMatrix()

template<class T>

template<class MATRIXLIKE >

void mrpt::poses::CPose2DGridTemplate< T >::getAsMatrix	(	const double &	phi,
		MATRIXLIKE &	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 201 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ getByIndex() [1/2]

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 183 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and mrpt::poses::CPose2DGridTemplate< double >::getByPos().

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◆ getByIndex() [2/2]

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 191 of file CPose2DGridTemplate.h.

◆ getByPos() [1/2]

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 169 of file CPose2DGridTemplate.h.

◆ getByPos() [2/2]

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 176 of file CPose2DGridTemplate.h.

◆ getPhiMax()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getPhiMax ( ) const

inline

Definition at line 220 of file CPose2DGridTemplate.h.

◆ getPhiMin()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getPhiMin ( ) const

inline

Definition at line 219 of file CPose2DGridTemplate.h.

◆ getResolutionPhi()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getResolutionPhi ( ) const

inline

Definition at line 222 of file CPose2DGridTemplate.h.

◆ getResolutionXY()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getResolutionXY ( ) const

inline

Definition at line 221 of file CPose2DGridTemplate.h.

◆ getSizePhi()

template<class T>

size_t mrpt::poses::CPose2DGridTemplate< T >::getSizePhi ( ) const

inline

Definition at line 225 of file CPose2DGridTemplate.h.

◆ getSizeX()

template<class T>

size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeX ( ) const

inline

Definition at line 223 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ getSizeY()

template<class T>

size_t mrpt::poses::CPose2DGridTemplate< T >::getSizeY ( ) const

inline

Definition at line 224 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ getXMax()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getXMax ( ) const

inline

Definition at line 216 of file CPose2DGridTemplate.h.

◆ getXMin()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getXMin ( ) const

inline

Get info about the grid:

Definition at line 215 of file CPose2DGridTemplate.h.

◆ getYMax()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getYMax ( ) const

inline

Definition at line 218 of file CPose2DGridTemplate.h.

◆ getYMin()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::getYMin ( ) const

inline

Definition at line 217 of file CPose2DGridTemplate.h.

◆ idx2phi()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::idx2phi ( size_t phi ) const

inline

Returns coordinates from "indexes":

Definition at line 91 of file CPose2DGridTemplate.h.

◆ idx2x()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::idx2x ( size_t x ) const

inline

Returns coordinates from "indexes":

Definition at line 75 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ idx2y()

template<class T>

double mrpt::poses::CPose2DGridTemplate< T >::idx2y ( size_t y ) const

inline

Returns coordinates from "indexes":

Definition at line 83 of file CPose2DGridTemplate.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ phi2idx()

template<class T>

size_t mrpt::poses::CPose2DGridTemplate< T >::phi2idx ( double phi ) const

inline

Returns "indexes" from coordinates:

Definition at line 66 of file CPose2DGridTemplate.h.

Referenced by mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), and mrpt::poses::CPose2DGridTemplate< double >::getByPos().

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◆ setSize()

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`
	)