Detailed Description

template<class T>
class mrpt::utils::CDynamicGrid< T >

A 2D grid of dynamic size which stores any kind of data at each cell.

Template Parameters

T	The type of each cell in the 2D grid.

Definition at line 44 of file CDynamicGrid.h.

#include <mrpt/utils/CDynamicGrid.h>

Inheritance diagram for mrpt::utils::CDynamicGrid< T >:

[legend]

Public Member Functions
	CDynamicGrid (float x_min=-10.0f, float x_max=10.0f, float y_min=-10.0f, float y_max=10.0f, float resolution=0.10f)
	Constructor.

virtual	~CDynamicGrid ()
	Destructor.

void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution)
	Changes the size of the grid, ERASING all previous contents.

void	clear ()
	Erase the contents of all the cells.

void	fill (const T &value)
	Fills all the cells with the same value.

virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)
	Changes the size of the grid, maintaining previous contents.

T *	cellByPos (float x, float y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

const T *	cellByPos (float x, float y) const
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

T *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

const T *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count.

size_t	getSizeY () const
	Returns the vertical size of grid map in cells count.

float	getXMin () const
	Returns the "x" coordinate of left side of grid map.

float	getXMax () const
	Returns the "x" coordinate of right side of grid map.

float	getYMin () const
	Returns the "y" coordinate of top side of grid map.

float	getYMax () const
	Returns the "y" coordinate of bottom side of grid map.

float	getResolution () const
	Returns the resolution of the grid map.

virtual float	cell2float (const T &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

void	saveToTextFile (const std::string &fileName) const

int	x2idx (float x) const
	Transform a coordinate values into cell indexes.

int	y2idx (float y) const

int	xy2idx (float x, float y) const

void	idx2cxcy (const int &idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

float	idx2x (int cx) const
	Transform a cell index into a coordinate value.

float	idx2y (int cy) const

int	x2idx (float x, float x_min) const
	Transform a coordinate value into a cell index, using a diferent "x_min" value.

int	y2idx (float y, float y_min) const

template<class MAT >
void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix.

Protected Member Functions
std::vector< T > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object.

Protected Attributes
std::vector< T >	m_map
	The cells.

float	m_x_min

float	m_x_max

float	m_y_min

float	m_y_max

float	m_resolution

size_t	m_size_x

size_t	m_size_y

Constructor & Destructor Documentation

template<class T>

mrpt::utils::CDynamicGrid< T >::CDynamicGrid	(	float	x_min = `-10.0f`,
		float	x_max = `10.0f`,
		float	y_min = `-10.0f`,
		float	y_max = `10.0f`,
		float	resolution = `0.10f`
	)

inline

Constructor.

Definition at line 61 of file CDynamicGrid.h.

template<class T>

virtual mrpt::utils::CDynamicGrid< T >::~CDynamicGrid ( )

inlinevirtual

Destructor.

Definition at line 76 of file CDynamicGrid.h.

Member Function Documentation

template<class T>

virtual float mrpt::utils::CDynamicGrid< T >::cell2float ( const T & c ) const

inlinevirtual

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Reimplemented in mrpt::slam::CReflectivityGridMap2D.

Definition at line 281 of file CDynamicGrid.h.

template<class T>

T* mrpt::utils::CDynamicGrid< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)

inline

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 236 of file CDynamicGrid.h.

Referenced by mrpt::slam::COccupancyGridMap2D::getBasisCell(), mrpt::slam::COccupancyGridMap2D::getVoroniClearance(), mrpt::slam::COccupancyGridMap2D::setBasisCell(), and mrpt::slam::COccupancyGridMap2D::setVoroniClearance().

template<class T>

const T* mrpt::utils::CDynamicGrid< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const

inline

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 245 of file CDynamicGrid.h.

template<class T>

T* mrpt::utils::CDynamicGrid< T >::cellByPos	(	float	x,
		float	y
	)

inline

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 210 of file CDynamicGrid.h.

template<class T>

const T* mrpt::utils::CDynamicGrid< T >::cellByPos	(	float	x,
		float	y
	)		const

inline

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 223 of file CDynamicGrid.h.

template<class T>

void mrpt::utils::CDynamicGrid< T >::clear ( void )

inline

Erase the contents of all the cells.

Definition at line 108 of file CDynamicGrid.h.

template<class T>

void mrpt::utils::CDynamicGrid< T >::fill ( const T & value )

inline

Fills all the cells with the same value.

Definition at line 116 of file CDynamicGrid.h.

template<class T>

template<class MAT >

void mrpt::utils::CDynamicGrid< T >::getAsMatrix ( MAT & m ) const

inline

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a CMatrixDouble.

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 329 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::getResolution ( ) const

inline

Returns the resolution of the grid map.

Definition at line 278 of file CDynamicGrid.h.

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::getSizeX ( ) const

inline

Returns the horizontal size of grid map in cells count.

Definition at line 254 of file CDynamicGrid.h.

Referenced by mrpt::slam::COccupancyGridMap2D::getBasisCell(), mrpt::slam::COccupancyGridMap2D::getVoroniClearance(), mrpt::slam::COccupancyGridMap2D::setBasisCell(), and mrpt::slam::COccupancyGridMap2D::setVoroniClearance().

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::getSizeY ( ) const

inline

Returns the vertical size of grid map in cells count.

Definition at line 258 of file CDynamicGrid.h.

Referenced by mrpt::slam::COccupancyGridMap2D::getBasisCell(), mrpt::slam::COccupancyGridMap2D::getVoroniClearance(), mrpt::slam::COccupancyGridMap2D::setBasisCell(), and mrpt::slam::COccupancyGridMap2D::setVoroniClearance().

template<class T>

float mrpt::utils::CDynamicGrid< T >::getXMax ( ) const

inline

Returns the "x" coordinate of right side of grid map.

Definition at line 266 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::getXMin ( ) const

inline

Returns the "x" coordinate of left side of grid map.

Definition at line 262 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::getYMax ( ) const

inline

Returns the "y" coordinate of bottom side of grid map.

Definition at line 274 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::getYMin ( ) const

inline

Returns the "y" coordinate of top side of grid map.

Definition at line 270 of file CDynamicGrid.h.

template<class T>

void mrpt::utils::CDynamicGrid< T >::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const

inline

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 306 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::idx2x ( int cx ) const

inline

Transform a cell index into a coordinate value.

Definition at line 314 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::idx2y ( int cy ) const

inline

Definition at line 315 of file CDynamicGrid.h.

template<class T>

std::vector<T>& mrpt::utils::CDynamicGrid< T >::m_map_castaway_const ( ) const

inlineprotected

Used only from logically const method that really need to modify the object.

Definition at line 52 of file CDynamicGrid.h.

template<class T>

virtual void mrpt::utils::CDynamicGrid< T >::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const T &	defaultValueNewCells,
		float	additionalMarginMeters = `2.0f`
	)

inlinevirtual

Changes the size of the grid, maintaining previous contents.

See Also: setSize

Definition at line 121 of file CDynamicGrid.h.

template<class T>

void mrpt::utils::CDynamicGrid< T >::saveToTextFile ( const std::string & fileName ) const

inline

Definition at line 286 of file CDynamicGrid.h.

template<class T>

void mrpt::utils::CDynamicGrid< T >::setSize	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution
	)

inline

Changes the size of the grid, ERASING all previous contents.

See Also: resize

Definition at line 83 of file CDynamicGrid.h.

template<class T>

int mrpt::utils::CDynamicGrid< T >::x2idx ( float x ) const

inline

Transform a coordinate values into cell indexes.

Definition at line 301 of file CDynamicGrid.h.

template<class T>

int mrpt::utils::CDynamicGrid< T >::x2idx	(	float	x,
		float	x_min
	)		const

inline

Transform a coordinate value into a cell index, using a diferent "x_min" value.

Definition at line 319 of file CDynamicGrid.h.

template<class T>

int mrpt::utils::CDynamicGrid< T >::xy2idx	(	float	x,
		float	y
	)		const

inline

Definition at line 303 of file CDynamicGrid.h.

template<class T>

int mrpt::utils::CDynamicGrid< T >::y2idx ( float y ) const

inline

Definition at line 302 of file CDynamicGrid.h.

template<class T>

int mrpt::utils::CDynamicGrid< T >::y2idx	(	float	y,
		float	y_min
	)		const

inline

Definition at line 320 of file CDynamicGrid.h.

Member Data Documentation

template<class T>

std::vector<T> mrpt::utils::CDynamicGrid< T >::m_map

protected

The cells.

Definition at line 49 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::m_resolution

protected

Definition at line 55 of file CDynamicGrid.h.

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::m_size_x

protected

Definition at line 56 of file CDynamicGrid.h.

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::m_size_y

protected

Definition at line 56 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::m_x_max

protected

Definition at line 54 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::m_x_min

protected

Definition at line 54 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::m_y_max

protected

Definition at line 54 of file CDynamicGrid.h.

template<class T>

float mrpt::utils::CDynamicGrid< T >::m_y_min

protected

Definition at line 54 of file CDynamicGrid.h.

Detailed Description

template<class T> class mrpt::utils::CDynamicGrid< T >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class T>
class mrpt::utils::CDynamicGrid< T >