Detailed Description

template<class T>
class mrpt::utils::CDynamicGrid3D< T >

A 3D rectangular grid of dynamic size which stores any kind of data at each voxel.

Template Parameters

T	The type of each voxel in the grid.

Definition at line 28 of file CDynamicGrid3D.h.

#include <mrpt/utils/CDynamicGrid3D.h>

Inheritance diagram for mrpt::utils::CDynamicGrid3D< T >:

Public Member Functions
	CDynamicGrid3D (double x_min=-1.0, double x_max=1.0, double y_min=-1.0, double y_max=+1.0, double z_min=-1.0, double z_max=1.0, double resolution_xy=0.5, double resolution_z=0.5)
	Constructor. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const T &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z_=-1.0, const T *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

virtual void	clear ()
	Erase the contents of all the cells, setting them to their default values (default ctor). More...

void	fill (const T &value)
	Fills all the cells with the same value. More...

size_t	cellAbsIndexFromCXCYCZ (const int cx, const int cy, const int cz) const
	Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). More...

T *	cellByPos (double x, double y, double z)
	Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions. More...

const T *	cellByPos (double x, double y, double z) const

T *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz)
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

const T *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz) const
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizeZ () const

size_t	getVoxelCount () const

double	getXMin () const

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getZMin () const

double	getZMax () const

double	getResolutionXY () const

double	getResolutionZ () const

int	x2idx (double x) const
	Transform a coordinate values into voxel indexes. More...

int	y2idx (double y) const

int	z2idx (double z) const

double	idx2x (int cx) const
	Transform a voxel index into a coordinate value of the voxel central point. More...

double	idx2y (int cy) const

double	idx2z (int cz) const

Static Public Attributes
static const size_t	INVALID_VOXEL_IDX = size_t(-1)

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
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...

void	dyngridcommon_readFromStream (mrpt::utils::CStream &in)
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...

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_z_min

double	m_z_max

double	m_resolution_xy

double	m_resolution_z

size_t	m_size_x

size_t	m_size_y

size_t	m_size_z

size_t	m_size_x_times_y

Constructor & Destructor Documentation

◆ CDynamicGrid3D()

template<class T>

mrpt::utils::CDynamicGrid3D< T >::CDynamicGrid3D	(	double	x_min = `-1.0`,
		double	x_max = `1.0`,
		double	y_min = `-1.0`,
		double	y_max = `+1.0`,
		double	z_min = `-1.0`,
		double	z_max = `1.0`,
		double	resolution_xy = `0.5`,
		double	resolution_z = `0.5`
	)

inline

Constructor.

Definition at line 32 of file CDynamicGrid3D.h.

Member Function Documentation

◆ cellAbsIndexFromCXCYCZ()

template<class T>

size_t mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ	(	const int	cx,
		const int	cy,
		const int	cz
	)		const

inline

Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension).

See also: x2idx(), y2idx(), z2idx()

Definition at line 233 of file CDynamicGrid3D.h.

Referenced by mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex(), and mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos().

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◆ cellByIndex() [1/2]

template<class T>

T* mrpt::utils::CDynamicGrid3D< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)

inline

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

Definition at line 267 of file CDynamicGrid3D.h.

◆ cellByIndex() [2/2]

template<class T>

const T* mrpt::utils::CDynamicGrid3D< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)		const

inline

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

Definition at line 277 of file CDynamicGrid3D.h.

◆ cellByPos() [1/2]

template<class T>

T* mrpt::utils::CDynamicGrid3D< T >::cellByPos	(	double	x,
		double	y,
		double	z
	)

inline

Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 248 of file CDynamicGrid3D.h.

Referenced by TEST().

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◆ cellByPos() [2/2]

template<class T>

const T* mrpt::utils::CDynamicGrid3D< T >::cellByPos	(	double	x,
		double	y,
		double	z
	)		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 256 of file CDynamicGrid3D.h.

◆ clear()

template<class T>

virtual void mrpt::utils::CDynamicGrid3D< T >::clear ( )

inlinevirtual

Erase the contents of all the cells, setting them to their default values (default ctor).

Reimplemented in mrpt::maps::CRandomFieldGridMap3D.

Definition at line 213 of file CDynamicGrid3D.h.

Referenced by mrpt::maps::CRandomFieldGridMap3D::clear().

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◆ dyngridcommon_readFromStream()

template<class T>

void mrpt::utils::CDynamicGrid3D< T >::dyngridcommon_readFromStream ( mrpt::utils::CStream & in )

inlineprotected

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 337 of file CDynamicGrid3D.h.

◆ dyngridcommon_writeToStream()

template<class T>

void mrpt::utils::CDynamicGrid3D< T >::dyngridcommon_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotected

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 327 of file CDynamicGrid3D.h.

◆ fill()

template<class T>

void mrpt::utils::CDynamicGrid3D< T >::fill ( const T & value )

inline

Fills all the cells with the same value.

Definition at line 221 of file CDynamicGrid3D.h.

◆ getResolutionXY()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getResolutionXY ( ) const

inline

Definition at line 295 of file CDynamicGrid3D.h.

◆ getResolutionZ()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getResolutionZ ( ) const

inline

Definition at line 296 of file CDynamicGrid3D.h.

◆ getSizeX()

template<class T>

size_t mrpt::utils::CDynamicGrid3D< T >::getSizeX ( ) const

inline

Definition at line 285 of file CDynamicGrid3D.h.

◆ getSizeY()

template<class T>

size_t mrpt::utils::CDynamicGrid3D< T >::getSizeY ( ) const

inline

Definition at line 286 of file CDynamicGrid3D.h.

◆ getSizeZ()

template<class T>

size_t mrpt::utils::CDynamicGrid3D< T >::getSizeZ ( ) const

inline

Definition at line 287 of file CDynamicGrid3D.h.

◆ getVoxelCount()

template<class T>

size_t mrpt::utils::CDynamicGrid3D< T >::getVoxelCount ( ) const

inline

Definition at line 288 of file CDynamicGrid3D.h.

◆ getXMax()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getXMax ( ) const

inline

Definition at line 290 of file CDynamicGrid3D.h.

◆ getXMin()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getXMin ( ) const

inline

Definition at line 289 of file CDynamicGrid3D.h.

◆ getYMax()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getYMax ( ) const

inline

Definition at line 292 of file CDynamicGrid3D.h.

◆ getYMin()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getYMin ( ) const

inline

Definition at line 291 of file CDynamicGrid3D.h.

◆ getZMax()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getZMax ( ) const

inline

Definition at line 294 of file CDynamicGrid3D.h.

◆ getZMin()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::getZMin ( ) const

inline

Definition at line 293 of file CDynamicGrid3D.h.

◆ idx2x()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::idx2x ( int cx ) const

inline

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

Definition at line 313 of file CDynamicGrid3D.h.

◆ idx2y()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::idx2y ( int cy ) const

inline

Definition at line 314 of file CDynamicGrid3D.h.

◆ idx2z()

template<class T>

double mrpt::utils::CDynamicGrid3D< T >::idx2z ( int cz ) const

inline

Definition at line 315 of file CDynamicGrid3D.h.

◆ m_map_castaway_const()

template<class T>

std::vector<T>& mrpt::utils::CDynamicGrid3D< T >::m_map_castaway_const ( ) const

inlineprotected

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

Definition at line 321 of file CDynamicGrid3D.h.

◆ resize()

template<class T>

virtual void mrpt::utils::CDynamicGrid3D< T >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		double	new_z_min,
		double	new_z_max,
		const T &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtual

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 46 of file CDynamicGrid3D.h.

◆ setSize()

template<class T>

virtual void mrpt::utils::CDynamicGrid3D< T >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	z_min,
		const double	z_max,
		const double	resolution_xy,
		const double	resolution_z_ = `-1.0`,
		const T *	fill_value = `nullptr`
	)

inlinevirtual

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

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default voxel value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing. If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy