<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CSinCosLookUpTableFor2DScans.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CSinCosLookUpTableFor2DScans.h</div> </div> </div> <div class="contents"> <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 <jlblanco@ctima.uma.es> |</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 <http://www.gnu.org/licenses/>. |</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 <<a class="code" href="_c_observation2_d_range_scan_8h.html">mrpt/slam/CObservation2DRangeScan.h</a>></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 & 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> & getSinCosForScan(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &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<T2DScanProperties,TSinCosValues></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">//!< 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> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>