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mrpt::slam::CSinCosLookUpTableFor2DScans Class Reference

Detailed Description

A smart look-up-table (LUT) of sin/cos values for 2D laser scans.

Refer to the main method CSinCosLookUpTableFor2DScans::getSinCosForScan()

This class is used in mrpt::slam::CPointsMap

Definition at line 27 of file CSinCosLookUpTableFor2DScans.h.

#include <mrpt/slam/CSinCosLookUpTableFor2DScans.h>

Classes

struct  TSinCosValues
 A pair of vectors with the cos and sin values. More...
 

Public Member Functions

const TSinCosValuesgetSinCosForScan (const CObservation2DRangeScan &scan)
 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. More...
 

Private Attributes

std::map< T2DScanProperties,
TSinCosValues
m_cache
 The cache of known scans and their sin/cos tables. More...
 

Member Function Documentation

const TSinCosValues& mrpt::slam::CSinCosLookUpTableFor2DScans::getSinCosForScan ( const CObservation2DRangeScan scan)

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.

Usage:

CSinCosLookUpTableFor2DScans cache;
...
const CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals = cache.getSinCosForScan( scan );

Member Data Documentation

std::map<T2DScanProperties,TSinCosValues> mrpt::slam::CSinCosLookUpTableFor2DScans::m_cache
private

The cache of known scans and their sin/cos tables.

Definition at line 47 of file CSinCosLookUpTableFor2DScans.h.




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