CSinCosLookUpTableFor2DScans.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                       http://www.mrpt.org/                                |
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   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CSinCosLookUpTableFor2DScans_H
#define CSinCosLookUpTableFor2DScans_H

#include <mrpt/slam/CObservation2DRangeScan.h>

namespace mrpt
{
namespace slam
{
        /** 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
         * \ingroup mrpt_obs_grp
          */
        class OBS_IMPEXP CSinCosLookUpTableFor2DScans
        {
        public:
                /** A pair of vectors with the cos and sin values. */
                struct TSinCosValues {
                        mrpt::vector_float 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);

        private:
                std::map<T2DScanProperties,TSinCosValues>  m_cache; //!< The cache of known scans and their sin/cos tables.
        };


} // end NS slam
} // end NS mrpt

#endif