mrpt::slam::CSinCosLookUpTableFor2DScans Class Reference

---

Detailed Description

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::slam::CPointsMap

#include <mrpt/slam/CSinCosLookUpTableFor2DScans.h>

List of all members.

Classes
struct	TSinCosValues
	A pair of vectors with the cos and sin values. More...
Public Member Functions
const TSinCosValues &	getSinCosForScan (const CObservation2DRangeScan &scan)
	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.
Private Attributes
std::map< T2DScanProperties, TSinCosValues >	m_cache
	The cache of known scans and their sin/cos tables.

---

Member Function Documentation

const TSinCosValues& mrpt::slam::CSinCosLookUpTableFor2DScans::getSinCosForScan

(

const CObservation2DRangeScan &

scan

)

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:

   CSinCosLookUpTableFor2DScans cache;
   ...
   const CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals = cache.getSinCosForScan( scan );

---

Member Data Documentation

std::map<T2DScanProperties,TSinCosValues> mrpt::slam::CSinCosLookUpTableFor2DScans::m_cache [private]

The cache of known scans and their sin/cos tables.

Definition at line 63 of file CSinCosLookUpTableFor2DScans.h.