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<title>mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html">CColisionGrid</a> </li>
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<div class="title">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference</div> </div>
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<!-- doxytag: class="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid" --><!-- doxytag: inherits="CDynamicGrid< TCollisionCell >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>An internal class for storing the collision grid. </p>
</div>
<p><code>#include <<a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">mrpt/reactivenav/CParameterizedTrajectoryGenerator.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map" id="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< TCollisionCell \>" alt="" coords="81,96,359,123"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="A 2D grid of dynamic size which stores any kind of data at each cell." alt="" coords="133,5,307,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a72aaf6e65a36a85e418f787cc2a1f1ff">CColisionGrid</a> (float x_min, float x_max, float y_min, float y_max, float resolution, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> *parent)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a674c63db1bd40c486ba7b17970f5a916">~CColisionGrid</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a3cbee35be8a67c7f2afe8d1d93588b79">saveToFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> *fil)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save to file, true = OK. <a href="#a3cbee35be8a67c7f2afe8d1d93588b79"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a990e3d5180190517bb60c39d291a9e46">loadFromFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> *fil)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load from file, true = OK. <a href="#a990e3d5180190517bb60c39d291a9e46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">TCollisionCell</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#afafb095a7f03adc1ac0a93b348d38bcd">getTPObstacle</a> (const float obsX, const float obsY) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides. <a href="#afafb095a7f03adc1ac0a93b348d38bcd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a9f74cb4c128672c4854df0cc8c599762">updateCellInfo</a> (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value: <a href="#a9f74cb4c128672c4854df0cc8c599762"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a926be9ff11d4f3a8f5553262b8fcacd9">setSize</a> (float x_min, float x_max, float y_min, float y_max, float resolution)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the size of the grid, ERASING all previous contents. <a href="#a926be9ff11d4f3a8f5553262b8fcacd9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a19b80979cc942fa8d56fa963cf2c88f8">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase the contents of all the cells. <a href="#a19b80979cc942fa8d56fa963cf2c88f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a1abcf1677e597799ad7572b604f32645">fill</a> (const T &value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills all the cells with the same value. <a href="#a1abcf1677e597799ad7572b604f32645"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#af43d36e226e0c62a03353504bc443556">resize</a> (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the size of the grid, maintaining previous contents. <a href="#af43d36e226e0c62a03353504bc443556"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a5277bca042c6ade6fd67d5c0a8a172f2">cellByPos</a> (float x, float y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. <a href="#a5277bca042c6ade6fd67d5c0a8a172f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aebbd206e29754dbdbd3aa1ee37be6dab">cellByPos</a> (float x, float y) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. <a href="#aebbd206e29754dbdbd3aa1ee37be6dab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4781cecfa674b11cd29470a0555a0622">cellByIndex</a> (unsigned int cx, unsigned int cy)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. <a href="#a4781cecfa674b11cd29470a0555a0622"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a58d68888956305d5f86f56760922270b">cellByIndex</a> (unsigned int cx, unsigned int cy) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. <a href="#a58d68888956305d5f86f56760922270b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aeb24078d14768d08d00c1eb79c547ff3">getSizeX</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the horizontal size of grid map in cells count. <a href="#aeb24078d14768d08d00c1eb79c547ff3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4d300627ac8a06e1e277292c1b0a711b">getSizeY</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the vertical size of grid map in cells count. <a href="#a4d300627ac8a06e1e277292c1b0a711b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4056c7f1f93e0ad84b1dc11429080312">getXMin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "x" coordinate of left side of grid map. <a href="#a4056c7f1f93e0ad84b1dc11429080312"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a5b3ddaf4838deb69402688a149fff54c">getXMax</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "x" coordinate of right side of grid map. <a href="#a5b3ddaf4838deb69402688a149fff54c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ae0c391b4f19aea09157f837d7fa15a3b">getYMin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "y" coordinate of top side of grid map. <a href="#ae0c391b4f19aea09157f837d7fa15a3b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa287d6b8076e7377bb37a4e4194cf9b5">getYMax</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "y" coordinate of bottom side of grid map. <a href="#aa287d6b8076e7377bb37a4e4194cf9b5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#adc2166ca7c775540b668a2f3e81d0ba1">getResolution</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the resolution of the grid map. <a href="#adc2166ca7c775540b668a2f3e81d0ba1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ab1cff5e8d8397872ca5628ebeec4bb64">cell2float</a> (const T &c) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. <a href="#ab1cff5e8d8397872ca5628ebeec4bb64"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ad4a3fca506c6391411806f563de64047">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &fileName) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#af7c9b186fa24f231178f0b1ccd778ab1">x2idx</a> (float x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a coordinate values into cell indexes. <a href="#af7c9b186fa24f231178f0b1ccd778ab1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ae5f9732fa03110a3a1c801672d073251">x2idx</a> (float x, float x_min) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a coordinate value into a cell index, using a diferent "x_min" value. <a href="#ae5f9732fa03110a3a1c801672d073251"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#af5210a6b58e116584fb7ec391048573b">y2idx</a> (float y) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0460a7c8543c6e9f8de28cc5cadfa640">y2idx</a> (float y, float y_min) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a63dedb14db1e7363f45ab7c6aed9fdb8">xy2idx</a> (float x, float y) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a20356dae1065b5ed663b08bed36d6f11">idx2cxcy</a> (const int &idx, int &cx, int &cy) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. <a href="#a20356dae1065b5ed663b08bed36d6f11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a91a60d42d43bdc6d0174b492521fc5dc">idx2x</a> (int cx) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a cell index into a coordinate value. <a href="#a91a60d42d43bdc6d0174b492521fc5dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aad004e29d48cd60015f6711f497483fa">idx2y</a> (int cy) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aad1ca5fdd667b49e78b64c7a6f19a76b">getAsMatrix</a> (MAT &m) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the entire grid as a matrix. <a href="#aad1ca5fdd667b49e78b64c7a6f19a76b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa99e6b75ba0d986dd68df5342d9a16e3">m_map_castaway_const</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used only from logically const method that really need to modify the object. <a href="#aa99e6b75ba0d986dd68df5342d9a16e3"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a44e35967e6dfa4a1d4ea877310c10ebb">m_map</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The cells. <a href="#a44e35967e6dfa4a1d4ea877310c10ebb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a9aa912e950257c3a3a50d29f89485aee">m_x_min</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ab7fa28466fd34353ec079990c2519103">m_x_max</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ac6e709aef8fdbb23f8c24ce61ae93a9e">m_y_min</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a706b0fdf9622d791d34132403f9f8451">m_y_max</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0d8fd68a29ddbdd0b4b635ef4a082357">m_resolution</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a3c6d52443dc50cdcd4aac442df119231">m_size_x</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa60d1d0c9e789f4201cda9974dfe36df">m_size_y</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> <br class="typebreak"/>
const * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a62127b82377cbcaf3e1e507c595880a9">m_parent</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a72aaf6e65a36a85e418f787cc2a1f1ff"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid" ref="a72aaf6e65a36a85e418f787cc2a1f1ff" args="(float x_min, float x_max, float y_min, float y_max, float resolution, CParameterizedTrajectoryGenerator *parent)" -->
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<td class="memname">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>resolution</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * </td>
<td class="paramname"><em>parent</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00194">194</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
</div>
</div>
<a class="anchor" id="a674c63db1bd40c486ba7b17970f5a916"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid" ref="a674c63db1bd40c486ba7b17970f5a916" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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</table>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00199">199</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab1cff5e8d8397872ca5628ebeec4bb64"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::cell2float" ref="ab1cff5e8d8397872ca5628ebeec4bb64" args="(const T &c) const " -->
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<td class="memname">virtual float mrpt::utils::CDynamicGrid::cell2float </td>
<td>(</td>
<td class="paramtype">const T & </td>
<td class="paramname"><em>c</em></td><td>)</td>
<td> const<code> [inline, virtual, inherited]</code></td>
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<div class="memdoc">
<p>The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00281">281</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a4781cecfa674b11cd29470a0555a0622"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::cellByIndex" ref="a4781cecfa674b11cd29470a0555a0622" args="(unsigned int cx, unsigned int cy)" -->
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<td class="memname">T* mrpt::utils::CDynamicGrid::cellByIndex </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cx</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cy</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00236">236</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a58d68888956305d5f86f56760922270b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::cellByIndex" ref="a58d68888956305d5f86f56760922270b" args="(unsigned int cx, unsigned int cy) const " -->
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<td class="memname">const T* mrpt::utils::CDynamicGrid::cellByIndex </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cy</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00245">245</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a5277bca042c6ade6fd67d5c0a8a172f2"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::cellByPos" ref="a5277bca042c6ade6fd67d5c0a8a172f2" args="(float x, float y)" -->
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<td class="memname">T* mrpt::utils::CDynamicGrid::cellByPos </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00210">210</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aebbd206e29754dbdbd3aa1ee37be6dab"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::cellByPos" ref="aebbd206e29754dbdbd3aa1ee37be6dab" args="(float x, float y) const " -->
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<td class="memname">const T* mrpt::utils::CDynamicGrid::cellByPos </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00223">223</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a19b80979cc942fa8d56fa963cf2c88f8"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::clear" ref="a19b80979cc942fa8d56fa963cf2c88f8" args="()" -->
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<td class="memname">void mrpt::utils::CDynamicGrid::clear </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Erase the contents of all the cells. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00108">108</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a1abcf1677e597799ad7572b604f32645"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::fill" ref="a1abcf1677e597799ad7572b604f32645" args="(const T &value)" -->
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<td class="memname">void mrpt::utils::CDynamicGrid::fill </td>
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<td class="paramtype">const T & </td>
<td class="paramname"><em>value</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Fills all the cells with the same value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00116">116</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aad1ca5fdd667b49e78b64c7a6f19a76b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getAsMatrix" ref="aad1ca5fdd667b49e78b64c7a6f19a76b" args="(MAT &m) const " -->
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<td class="memname">void mrpt::utils::CDynamicGrid::getAsMatrix </td>
<td>(</td>
<td class="paramtype">MAT & </td>
<td class="paramname"><em>m</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Get the entire grid as a matrix. </p>
<dl><dt><b>Template Parameters:</b></dt><dd>
<table class="">
<tr><td class="paramname">MAT</td><td>The type of the matrix, typically a CMatrixDouble. </td></tr>
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</dd>
</dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">m</td><td>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). </td></tr>
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</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double). </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00329">329</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="adc2166ca7c775540b668a2f3e81d0ba1"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getResolution" ref="adc2166ca7c775540b668a2f3e81d0ba1" args="() const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::getResolution </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the resolution of the grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00278">278</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aeb24078d14768d08d00c1eb79c547ff3"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getSizeX" ref="aeb24078d14768d08d00c1eb79c547ff3" args="() const " -->
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<td class="memname">size_t mrpt::utils::CDynamicGrid::getSizeX </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the horizontal size of grid map in cells count. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00254">254</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a4d300627ac8a06e1e277292c1b0a711b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getSizeY" ref="a4d300627ac8a06e1e277292c1b0a711b" args="() const " -->
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the vertical size of grid map in cells count. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00258">258</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="afafb095a7f03adc1ac0a93b348d38bcd"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle" ref="afafb095a7f03adc1ac0a93b348d38bcd" args="(const float obsX, const float obsY) const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">TCollisionCell</a>& mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle </td>
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<td class="paramtype">const float </td>
<td class="paramname"><em>obsY</em> </td>
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<p>For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides. </p>
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<a class="anchor" id="a5b3ddaf4838deb69402688a149fff54c"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getXMax" ref="a5b3ddaf4838deb69402688a149fff54c" args="() const " -->
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<p>Returns the "x" coordinate of right side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00266">266</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a4056c7f1f93e0ad84b1dc11429080312"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getXMin" ref="a4056c7f1f93e0ad84b1dc11429080312" args="() const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::getXMin </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the "x" coordinate of left side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00262">262</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aa287d6b8076e7377bb37a4e4194cf9b5"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getYMax" ref="aa287d6b8076e7377bb37a4e4194cf9b5" args="() const " -->
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the "y" coordinate of bottom side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00274">274</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ae0c391b4f19aea09157f837d7fa15a3b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getYMin" ref="ae0c391b4f19aea09157f837d7fa15a3b" args="() const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::getYMin </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the "y" coordinate of top side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00270">270</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a20356dae1065b5ed663b08bed36d6f11"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::idx2cxcy" ref="a20356dae1065b5ed663b08bed36d6f11" args="(const int &idx, int &cx, int &cy) const " -->
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<td>(</td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>idx</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>cx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>cy</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00306">306</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a91a60d42d43bdc6d0174b492521fc5dc"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::idx2x" ref="a91a60d42d43bdc6d0174b492521fc5dc" args="(int cx) const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::idx2x </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>cx</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Transform a cell index into a coordinate value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00314">314</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aad004e29d48cd60015f6711f497483fa"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::idx2y" ref="aad004e29d48cd60015f6711f497483fa" args="(int cy) const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::idx2y </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>cy</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00315">315</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a990e3d5180190517bb60c39d291a9e46"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile" ref="a990e3d5180190517bb60c39d291a9e46" args="(mrpt::utils::CStream *fil)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td>
<td class="paramname"><em>fil</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Load from file, true = OK. </p>
</div>
</div>
<a class="anchor" id="aa99e6b75ba0d986dd68df5342d9a16e3"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_map_castaway_const" ref="aa99e6b75ba0d986dd68df5342d9a16e3" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T>& mrpt::utils::CDynamicGrid::m_map_castaway_const </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used only from logically const method that really need to modify the object. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00052">52</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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</div>
<a class="anchor" id="af43d36e226e0c62a03353504bc443556"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::resize" ref="af43d36e226e0c62a03353504bc443556" args="(float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)" -->
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<td class="memname">virtual void mrpt::utils::CDynamicGrid::resize </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const T & </td>
<td class="paramname"><em>defaultValueNewCells</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>additionalMarginMeters</em> = <code>2.0f</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Changes the size of the grid, maintaining previous contents. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="eigen__plugins_8h.html#a8133077108cd44f617e7784243eb5db9" title="Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...">setSize</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00121">121</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3cbee35be8a67c7f2afe8d1d93588b79"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile" ref="a3cbee35be8a67c7f2afe8d1d93588b79" args="(mrpt::utils::CStream *fil)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td>
<td class="paramname"><em>fil</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save to file, true = OK. </p>
</div>
</div>
<a class="anchor" id="ad4a3fca506c6391411806f563de64047"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToTextFile" ref="ad4a3fca506c6391411806f563de64047" args="(const std::string &fileName) const " -->
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<td class="memname">void mrpt::utils::CDynamicGrid::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>fileName</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00286">286</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a926be9ff11d4f3a8f5553262b8fcacd9"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::setSize" ref="a926be9ff11d4f3a8f5553262b8fcacd9" args="(float x_min, float x_max, float y_min, float y_max, float resolution)" -->
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<td class="memname">void mrpt::utils::CDynamicGrid::setSize </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>resolution</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Changes the size of the grid, ERASING all previous contents. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>resize </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00083">83</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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</div>
<a class="anchor" id="a9f74cb4c128672c4854df0cc8c599762"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo" ref="a9f74cb4c128672c4854df0cc8c599762" args="(const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>icx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>icy</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float </td>
<td class="paramname"><em>dist</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value: </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">cellInfo</td><td>The index of the cell </td></tr>
<tr><td class="paramname">k</td><td>The path index (alfa discreet value) </td></tr>
<tr><td class="paramname">d</td><td>The distance (in TP-Space, range 0..1) to collision. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="af7c9b186fa24f231178f0b1ccd778ab1"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::x2idx" ref="af7c9b186fa24f231178f0b1ccd778ab1" args="(float x) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::x2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Transform a coordinate values into cell indexes. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00301">301</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ae5f9732fa03110a3a1c801672d073251"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::x2idx" ref="ae5f9732fa03110a3a1c801672d073251" args="(float x, float x_min) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::x2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_min</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Transform a coordinate value into a cell index, using a diferent "x_min" value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00319">319</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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</div>
<a class="anchor" id="a63dedb14db1e7363f45ab7c6aed9fdb8"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::xy2idx" ref="a63dedb14db1e7363f45ab7c6aed9fdb8" args="(float x, float y) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::xy2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00303">303</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="af5210a6b58e116584fb7ec391048573b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::y2idx" ref="af5210a6b58e116584fb7ec391048573b" args="(float y) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::y2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00302">302</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0460a7c8543c6e9f8de28cc5cadfa640"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::y2idx" ref="a0460a7c8543c6e9f8de28cc5cadfa640" args="(float y, float y_min) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::y2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_min</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00320">320</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a44e35967e6dfa4a1d4ea877310c10ebb"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_map" ref="a44e35967e6dfa4a1d4ea877310c10ebb" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T> <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a44e35967e6dfa4a1d4ea877310c10ebb">mrpt::utils::CDynamicGrid::m_map</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The cells. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00049">49</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a62127b82377cbcaf3e1e507c595880a9"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_parent" ref="a62127b82377cbcaf3e1e507c595880a9" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> const* <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a62127b82377cbcaf3e1e507c595880a9">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_parent</a><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00191">191</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0d8fd68a29ddbdd0b4b635ef4a082357"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_resolution" ref="a0d8fd68a29ddbdd0b4b635ef4a082357" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0d8fd68a29ddbdd0b4b635ef4a082357">mrpt::utils::CDynamicGrid::m_resolution</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00055">55</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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</div>
<a class="anchor" id="a3c6d52443dc50cdcd4aac442df119231"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_size_x" ref="a3c6d52443dc50cdcd4aac442df119231" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a3c6d52443dc50cdcd4aac442df119231">mrpt::utils::CDynamicGrid::m_size_x</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00056">56</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa60d1d0c9e789f4201cda9974dfe36df"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_size_y" ref="aa60d1d0c9e789f4201cda9974dfe36df" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa60d1d0c9e789f4201cda9974dfe36df">mrpt::utils::CDynamicGrid::m_size_y</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00056">56</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab7fa28466fd34353ec079990c2519103"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::m_x_max" ref="ab7fa28466fd34353ec079990c2519103" args="" -->
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<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>
