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CEllipsoidInverseDepth2D.cpp
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "opengl-precomp.h" // Precompiled header
11 
12 
14 #include <mrpt/math/matrix_serialization.h> // for << >> ops of matrices
15 #include <mrpt/utils/CStream.h>
16 
17 using namespace mrpt;
18 using namespace mrpt::opengl;
19 using namespace mrpt::utils;
20 using namespace mrpt::math;
21 using namespace std;
22 
24 
25 /*---------------------------------------------------------------
26  transformFromParameterSpace
27  ---------------------------------------------------------------*/
28  void CEllipsoidInverseDepth2D::transformFromParameterSpace(
29  const std::vector<BASE::array_parameter_t> &in_pts,
30  std::vector<BASE::array_point_t> & out_pts) const
31 {
33 
34  // (inv_range,yaw) --> (x,y)
35  const size_t N = in_pts.size();
36  out_pts.resize(N);
37  for (size_t i=0;i<N;i++)
38  {
39  const double inv_range = in_pts[i][0];
40  const double yaw = in_pts[i][1];
41  const double range = inv_range<0 ? m_underflowMaxRange : (inv_range!=0 ? 1./inv_range : 0);
42  out_pts[i][0] = range * cos(yaw);
43  out_pts[i][1] = range * sin(yaw);
44  }
45 
46  MRPT_END
47 }
48 
49 
50 /*---------------------------------------------------------------
51  Implements the writing to a CStream capability of
52  CSerializable objects
53  ---------------------------------------------------------------*/
55 {
56  if (version)
57  *version = 0;
58  else
59  {
60  writeToStreamRender(out);
61  BASE::thisclass_writeToStream(out);
62 
63  out << m_underflowMaxRange;
64  }
65 }
66 
67 /*---------------------------------------------------------------
68  Implements the reading from a CStream capability of
69  CSerializable objects
70  ---------------------------------------------------------------*/
72 {
73  switch(version)
74  {
75  case 0:
76  {
77  readFromStreamRender(in);
78  BASE::thisclass_readFromStream(in);
79 
80  in >> m_underflowMaxRange;
81  } break;
82  default:
84  };
86 }
GLsizei range
Definition: glext.h:5281
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
void readFromStream(mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly...
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
STL namespace.
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) variable.
void writeToStream(mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream.
A renderizable object suitable for rendering with OpenGL&#39;s display lists.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
A numeric matrix of compile-time fixed size.
This base provides a set of functions for maths stuff.
Definition: CArrayNumeric.h:19
#define MRPT_END
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
int version
Definition: mrpt_jpeglib.h:898
#define MRPT_START
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This file implements matrix/vector text and binary serialization.
GLuint in
Definition: glext.h:6301
The namespace for 3D scene representation and rendering.
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red



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