MRPT  2.0.5
logoddscell_traits.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
12 #include <cstdint>
13 
14 namespace mrpt::maps::detail
15 {
16 template <typename TCELL>
18 // Specializations:
19 template <>
20 struct logoddscell_traits<int8_t>
21 {
22  static constexpr int8_t CELLTYPE_MIN = -127;
23  static constexpr int8_t CELLTYPE_MAX = 127;
24  static constexpr int8_t P2LTABLE_SIZE = CELLTYPE_MAX;
25  static constexpr std::size_t LOGODDS_LUT_ENTRIES = 1 << 8;
26 };
27 template <>
28 struct logoddscell_traits<int16_t>
29 {
30  static constexpr int16_t CELLTYPE_MIN = -32767;
31  static constexpr int16_t CELLTYPE_MAX = 32767;
32  static constexpr int16_t P2LTABLE_SIZE = CELLTYPE_MAX;
33  static constexpr std::size_t LOGODDS_LUT_ENTRIES = 1 << 16;
34 };
35 } // namespace mrpt::maps::detail



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