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<title>mrpt::slam::CSinCosLookUpTableFor2DScans Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html">CSinCosLookUpTableFor2DScans</a> </li>
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<div class="title">mrpt::slam::CSinCosLookUpTableFor2DScans Class Reference<div class="ingroups"><a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CSinCosLookUpTableFor2DScans" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A smart look-up-table (LUT) of sin/cos values for 2D laser scans. </p>
<p>Refer to the main method <a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#a37ce96e277e14c564f6caf361ab6b9da" title="Return two vectors with the cos and the sin of the angles for each of the rays in a scan...">CSinCosLookUpTableFor2DScans::getSinCosForScan()</a></p>
<p>This class is used in <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">mrpt::slam::CPointsMap</a> </p>
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<p><code>#include <<a class="el" href="_c_sin_cos_look_up_table_for2_d_scans_8h_source.html">mrpt/slam/CSinCosLookUpTableFor2DScans.h</a>></code></p>
<p><a href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html">TSinCosValues</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A pair of vectors with the cos and sin values. <a href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html">TSinCosValues</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#a37ce96e277e14c564f6caf361ab6b9da">getSinCosForScan</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &scan)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest. <a href="#a37ce96e277e14c564f6caf361ab6b9da"></a><br/></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="classstd_1_1map.html">std::map</a>< <a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">T2DScanProperties</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html">TSinCosValues</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#af503decfe5be43c5e0078b110e2442c8">m_cache</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The cache of known scans and their sin/cos tables. <a href="#af503decfe5be43c5e0078b110e2442c8"></a><br/></td></tr>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37ce96e277e14c564f6caf361ab6b9da"></a><!-- doxytag: member="mrpt::slam::CSinCosLookUpTableFor2DScans::getSinCosForScan" ref="a37ce96e277e14c564f6caf361ab6b9da" args="(const CObservation2DRangeScan &scan)" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html">TSinCosValues</a>& mrpt::slam::CSinCosLookUpTableFor2DScans::getSinCosForScan </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>scan</em></td><td>)</td>
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<p>Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest. </p>
<p>Usage: </p>
<div class="fragment"><pre class="fragment"> CSinCosLookUpTableFor2DScans cache;
...
<span class="keyword">const</span> CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals = cache.getSinCosForScan( scan );
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="af503decfe5be43c5e0078b110e2442c8"></a><!-- doxytag: member="mrpt::slam::CSinCosLookUpTableFor2DScans::m_cache" ref="af503decfe5be43c5e0078b110e2442c8" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1map.html">std::map</a><<a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">T2DScanProperties</a>,<a class="el" href="structmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans_1_1_t_sin_cos_values.html">TSinCosValues</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#af503decfe5be43c5e0078b110e2442c8">mrpt::slam::CSinCosLookUpTableFor2DScans::m_cache</a><code> [private]</code></td>
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<p>The cache of known scans and their sin/cos tables. </p>
<p>Definition at line <a class="el" href="_c_sin_cos_look_up_table_for2_d_scans_8h_source.html#l00063">63</a> of file <a class="el" href="_c_sin_cos_look_up_table_for2_d_scans_8h_source.html">CSinCosLookUpTableFor2DScans.h</a>.</p>
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