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mrpt::utils::CDynamicGrid< T > Class Template Reference


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:
TThe type of each cell in the 2D grid.

Definition at line 43 of file CDynamicGrid.h.

#include <mrpt/utils/CDynamicGrid.h>

Inheritance diagram for mrpt::utils::CDynamicGrid< T >:
Inheritance graph
[legend]

List of all members.

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 60 of file CDynamicGrid.h.

template<class T>
virtual mrpt::utils::CDynamicGrid< T >::~CDynamicGrid ( ) [inline, virtual]

Destructor.

Definition at line 75 of file CDynamicGrid.h.


Member Function Documentation

template<class T>
virtual float mrpt::utils::CDynamicGrid< T >::cell2float ( const T &  c) const [inline, virtual]

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

Definition at line 280 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 235 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 244 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 209 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 222 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::clear ( void  ) [inline]

Erase the contents of all the cells.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CHeightGridMap2D.

Definition at line 107 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 115 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:
MATThe type of the matrix, typically a CMatrixDouble.
Parameters:
[out]mThe 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 328 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 277 of file CDynamicGrid.h.

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::getSizeX ( ) const [inline]
template<class T>
size_t mrpt::utils::CDynamicGrid< T >::getSizeY ( ) const [inline]
template<class T>
float mrpt::utils::CDynamicGrid< T >::getXMax ( ) const [inline]

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

Definition at line 265 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 261 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 273 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 269 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 305 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 313 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::idx2y ( int  cy) const [inline]

Definition at line 314 of file CDynamicGrid.h.

template<class T>
std::vector<T>& mrpt::utils::CDynamicGrid< T >::m_map_castaway_const ( ) const [inline, protected]

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

Definition at line 51 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 
) [inline, virtual]

Changes the size of the grid, maintaining previous contents.

See also:
setSize

Definition at line 120 of file CDynamicGrid.h.

template<class T>
void mrpt::utils::CDynamicGrid< T >::saveToTextFile ( const std::string &  fileName) const [inline]

Definition at line 285 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 82 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 300 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 318 of file CDynamicGrid.h.

template<class T>
int mrpt::utils::CDynamicGrid< T >::xy2idx ( float  x,
float  y 
) const [inline]

Definition at line 302 of file CDynamicGrid.h.

template<class T>
int mrpt::utils::CDynamicGrid< T >::y2idx ( float  y) const [inline]

Definition at line 301 of file CDynamicGrid.h.

template<class T>
int mrpt::utils::CDynamicGrid< T >::y2idx ( float  y,
float  y_min 
) const [inline]

Definition at line 319 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 48 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::m_resolution [protected]

Definition at line 54 of file CDynamicGrid.h.

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::m_size_x [protected]

Definition at line 55 of file CDynamicGrid.h.

template<class T>
size_t mrpt::utils::CDynamicGrid< T >::m_size_y [protected]

Definition at line 55 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::m_x_max [protected]

Definition at line 53 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::m_x_min [protected]

Definition at line 53 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::m_y_max [protected]

Definition at line 53 of file CDynamicGrid.h.

template<class T>
float mrpt::utils::CDynamicGrid< T >::m_y_min [protected]

Definition at line 53 of file CDynamicGrid.h.




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