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<div class="title">CSinCosLookUpTableFor2DScans.h</div>  </div>
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<a href="_c_sin_cos_look_up_table_for2_d_scans_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment">   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |</span>
<a name="l00003"></a>00003 <span class="comment">   |                                                                           |</span>
<a name="l00004"></a>00004 <span class="comment">   |                       http://www.mrpt.org/                                |</span>
<a name="l00005"></a>00005 <span class="comment">   |                                                                           |</span>
<a name="l00006"></a>00006 <span class="comment">   |   Copyright (C) 2005-2011  University of Malaga                           |</span>
<a name="l00007"></a>00007 <span class="comment">   |                                                                           |</span>
<a name="l00008"></a>00008 <span class="comment">   |    This software was written by the Machine Perception and Intelligent    |</span>
<a name="l00009"></a>00009 <span class="comment">   |      Robotics Lab, University of Malaga (Spain).                          |</span>
<a name="l00010"></a>00010 <span class="comment">   |    Contact: Jose-Luis Blanco  &lt;jlblanco@ctima.uma.es&gt;                     |</span>
<a name="l00011"></a>00011 <span class="comment">   |                                                                           |</span>
<a name="l00012"></a>00012 <span class="comment">   |  This file is part of the MRPT project.                                   |</span>
<a name="l00013"></a>00013 <span class="comment">   |                                                                           |</span>
<a name="l00014"></a>00014 <span class="comment">   |     MRPT is free software: you can redistribute it and/or modify          |</span>
<a name="l00015"></a>00015 <span class="comment">   |     it under the terms of the GNU General Public License as published by  |</span>
<a name="l00016"></a>00016 <span class="comment">   |     the Free Software Foundation, either version 3 of the License, or     |</span>
<a name="l00017"></a>00017 <span class="comment">   |     (at your option) any later version.                                   |</span>
<a name="l00018"></a>00018 <span class="comment">   |                                                                           |</span>
<a name="l00019"></a>00019 <span class="comment">   |   MRPT is distributed in the hope that it will be useful,                 |</span>
<a name="l00020"></a>00020 <span class="comment">   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |</span>
<a name="l00021"></a>00021 <span class="comment">   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |</span>
<a name="l00022"></a>00022 <span class="comment">   |     GNU General Public License for more details.                          |</span>
<a name="l00023"></a>00023 <span class="comment">   |                                                                           |</span>
<a name="l00024"></a>00024 <span class="comment">   |     You should have received a copy of the GNU General Public License     |</span>
<a name="l00025"></a>00025 <span class="comment">   |     along with MRPT.  If not, see &lt;http://www.gnu.org/licenses/&gt;.         |</span>
<a name="l00026"></a>00026 <span class="comment">   |                                                                           |</span>
<a name="l00027"></a>00027 <span class="comment">   +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSinCosLookUpTableFor2DScans_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSinCosLookUpTableFor2DScans_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;<a class="code" href="_c_observation2_d_range_scan_8h.html">mrpt/slam/CObservation2DRangeScan.h</a>&gt;</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>slam
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment">        /** A smart look-up-table (LUT) of sin/cos values for 2D laser scans.</span>
<a name="l00038"></a>00038 <span class="comment">          *  Refer to the main method CSinCosLookUpTableFor2DScans::getSinCosForScan()</span>
<a name="l00039"></a>00039 <span class="comment">          *</span>
<a name="l00040"></a>00040 <span class="comment">          *  This class is used in mrpt::slam::CPointsMap</span>
<a name="l00041"></a>00041 <span class="comment">         * \ingroup mrpt_obs_grp</span>
<a name="l00042"></a>00042 <span class="comment">          */</span>
<a name="l00043"></a>00043         <span class="keyword">class </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> CSinCosLookUpTableFor2DScans
<a name="l00044"></a>00044         {
<a name="l00045"></a>00045         <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment">                /** A pair of vectors with the cos and sin values. */</span>
<a name="l00047"></a>00047                 <span class="keyword">struct </span>TSinCosValues {
<a name="l00048"></a><a class="code" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html#a506c5cfea3653fe757f74dd1cfc83767">00048</a>                         mrpt<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">::vector_float</a> ccos, <a class="code" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html#a506c5cfea3653fe757f74dd1cfc83767">csin</a>;
<a name="l00049"></a>00049                 };
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment">                /** Return two vectors with the cos and the sin of the angles for each of the</span>
<a name="l00052"></a>00052 <span class="comment">                  * rays in a scan, computing them only the first time and returning a cached copy the rest.</span>
<a name="l00053"></a>00053 <span class="comment">                  *  Usage:</span>
<a name="l00054"></a>00054 <span class="comment">                  * \code</span>
<a name="l00055"></a>00055 <span class="comment">                  *   CSinCosLookUpTableFor2DScans cache;</span>
<a name="l00056"></a>00056 <span class="comment">                  *   ...</span>
<a name="l00057"></a>00057 <span class="comment">                  *   const CSinCosLookUpTableFor2DScans::TSinCosValues &amp; sincos_vals = cache.getSinCosForScan( scan );</span>
<a name="l00058"></a>00058 <span class="comment">                  * \endcode</span>
<a name="l00059"></a>00059 <span class="comment">                  */</span>
<a name="l00060"></a>00060                 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html" title="A pair of vectors with the cos and sin values.">TSinCosValues</a> &amp; getSinCosForScan(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A &quot;CObservation&quot;-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &amp;scan);
<a name="l00061"></a>00061 
<a name="l00062"></a>00062         <span class="keyword">private</span>:
<a name="l00063"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#af503decfe5be43c5e0078b110e2442c8">00063</a>                 std<a class="code" href="classstd_1_1map.html">::map&lt;T2DScanProperties,TSinCosValues&gt;</a>  <a class="code" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#af503decfe5be43c5e0078b110e2442c8" title="The cache of known scans and their sin/cos tables.">m_cache</a>; <span class="comment">//!&lt; The cache of known scans and their sin/cos tables.</span>
<a name="l00064"></a>00064 <span class="comment"></span>        };
<a name="l00065"></a>00065 
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 } <span class="comment">// end NS slam</span>
<a name="l00068"></a>00068 } <span class="comment">// end NS mrpt</span>
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="preprocessor">#endif</span>
</pre></div></div>
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