CAtan2LookUpTable.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "math-precomp.h"  // Precompiled headers
 
#include <mrpt/math/CAtan2LookUpTable.h>
#include <vector>
#include <cmath>
 
using namespace mrpt::math;
 
CAtan2LookUpTable::CAtan2LookUpTable() noexcept
{
        this->resize(-1.0, 1.0, -1.0, 1.0, 0.5);
}
CAtan2LookUpTable::CAtan2LookUpTable(
        double xmin, double xmax, double ymin, double ymax,
        double resolution) noexcept
{
        this->resize(xmin, xmax, ymin, ymax, resolution);
}
 
void CAtan2LookUpTable::resize(
        double xmin, double xmax, double ymin, double ymax,
        double resolution) noexcept
{
        const double def = .0;
        if (m_grid.getResolution() == resolution)
                m_grid.resize(xmin, xmax, ymin, ymax, def, .0);
        else
                m_grid.setSize(xmin, xmax, ymin, ymax, resolution, &def);
 
        const size_t nx = m_grid.getSizeX(), ny = m_grid.getSizeY();
 
        std::vector<double> idx2x(nx), idx2y(ny);
 
        for (size_t ix = 0; ix < nx; ix++) idx2x[ix] = m_grid.idx2x(ix);
        for (size_t iy = 0; iy < ny; iy++) idx2y[iy] = m_grid.idx2y(iy);
 
        for (size_t ix = 0; ix < nx; ix++)
        {
                const double x = idx2x[ix];
                for (size_t iy = 0; iy < ny; iy++)
                {
                        const double y = idx2y[iy];
                        double* cp = m_grid.cellByIndex(ix, iy);
                        if (cp) *cp = ::atan2(y, x);
                }
        }
}
 
bool CAtan2LookUpTable::atan2(double y, double x, double& out_atan2) const
        noexcept
{
        const double* cp = m_grid.cellByPos(x, y);
        if (!cp) return false;
        out_atan2 = *cp;
        return true;
}
 
CAtan2LookUpTableMultiRes::CAtan2LookUpTableMultiRes() noexcept {}
CAtan2LookUpTableMultiRes::CAtan2LookUpTableMultiRes(
        const std::map<double, double>& lst_resolutions2extensions) noexcept
{
        resize(lst_resolutions2extensions);
}
void CAtan2LookUpTableMultiRes::resize(
        const std::map<double, double>& lst_resolutions2extensions) noexcept
{
        m_grids.clear();
 
        for (const auto& it : lst_resolutions2extensions)
        {
                const double res = it.first;
                const double exten = it.second;
 
                mrpt::containers::CDynamicGrid<double>& dg = m_grids[exten] =
                        mrpt::containers::CDynamicGrid<double>(
                                -exten, exten, -exten, exten, res);
 
                const size_t nx = dg.getSizeX(), ny = dg.getSizeY();
                std::vector<double> idx2x(nx), idx2y(ny);
 
                for (size_t ix = 0; ix < nx; ix++) idx2x[ix] = dg.idx2x(ix);
                for (size_t iy = 0; iy < ny; iy++) idx2y[iy] = dg.idx2y(iy);
 
                for (size_t ix = 0; ix < nx; ix++)
                {
                        const double x = idx2x[ix];
                        for (size_t iy = 0; iy < ny; iy++)
                        {
                                const double y = idx2y[iy];
                                double* cp = dg.cellByIndex(ix, iy);
                                if (cp) *cp = ::atan2(y, x);
                        }
                }
        }
}
 
bool CAtan2LookUpTableMultiRes::atan2(
        double y, double x, double& out_atan2) const noexcept
{
        for (const auto& it : m_grids)
        {
                const double exten = it.first;
                const mrpt::containers::CDynamicGrid<double>& dg = it.second;
 
                if (std::abs(x) > exten || std::abs(y) > exten) continue;
 
                const double* cp = dg.cellByPos(x, y);
                if (!cp) continue;
                out_atan2 = *cp;
                return true;
        }
        return false;
}