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29 const std::vector<BASE::array_parameter_t>& in_pts,
30 std::vector<BASE::array_point_t>& out_pts)
const
35 const size_t N = in_pts.size();
37 for (
size_t i = 0; i < N; i++)
39 const double inv_range = in_pts[i][0];
40 const double yaw = in_pts[i][1];
41 const double range = inv_range < 0
43 : (inv_range != 0 ? 1. / inv_range : 0);
44 out_pts[i][0] =
range * cos(yaw);
45 out_pts[i][1] =
range * sin(yaw);
55 writeToStreamRender(out);
56 BASE::thisclass_writeToStream(out);
58 out << m_underflowMaxRange;
67 readFromStreamRender(
in);
68 BASE::thisclass_readFromStream(
in);
70 in >> m_underflowMaxRange;
virtual void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const override
To be implemented by derived classes: maps, using some arbitrary space transformation,...
A renderizable object suitable for rendering with OpenGL's display lists.
IMPLEMENTS_SERIALIZABLE(CEllipsoidInverseDepth2D, CRenderizableDisplayList, mrpt::opengl) void CEllipsoidInverseDepth2D
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,...
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
This base provides a set of functions for maths stuff.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
The namespace for 3D scene representation and rendering.
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