CSinCosLookUpTableFor2DScans.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */
#ifndef CSinCosLookUpTableFor2DScans_H
#define CSinCosLookUpTableFor2DScans_H
 
#include <mrpt/math/types_math.h>
#include <mrpt/obs/T2DScanProperties.h>
#include <map>
 
namespace mrpt
{
namespace obs
{
// Frwd decl:
class CObservation2DRangeScan;
 
/** A smart look-up-table (LUT) of sin/cos values for 2D laser scans.
  *  Refer to the main method CSinCosLookUpTableFor2DScans::getSinCosForScan()
  *
  *  This class is used in mrpt::maps::CPointsMap
 * \ingroup mrpt_obs_grp
  */
class CSinCosLookUpTableFor2DScans
{
   public:
        /** A pair of vectors with the cos and sin values. */
        struct TSinCosValues
        {
                mrpt::math::CVectorFloat ccos, csin;
        };
 
        /** Return two vectors with the cos and the sin of the angles for each of
         * the
          * rays in a scan, computing them only the first time and returning a
         * cached copy the rest.
          *  Usage:
          * \code
          *   CSinCosLookUpTableFor2DScans cache;
          *   ...
          *   const CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals =
         * cache.getSinCosForScan( scan );
          * \endcode
          */
        const TSinCosValues& getSinCosForScan(
                const CObservation2DRangeScan& scan) const;
        /** \overload */
        const TSinCosValues& getSinCosForScan(
                const T2DScanProperties& scan_prop) const;
 
   private:
        /** The cache of known scans and their sin/cos tables. */
        mutable std::map<T2DScanProperties, TSinCosValues> m_cache;
};
 
}  // end NS obs
}  // end NS mrpt
 
#endif