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CSinCosLookUpTableFor2DScans.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 "obs-precomp.h" // Precompiled headers
11 
14 
15 using namespace std;
16 using namespace mrpt::obs;
17 using namespace mrpt::utils;
18 
19 /** Return two vectors with the cos and the sin of the angles for each of the
20  * rays in a scan, computing them only the first time and returning a cached copy the rest.
21  */
22 const CSinCosLookUpTableFor2DScans::TSinCosValues & CSinCosLookUpTableFor2DScans::getSinCosForScan(const CObservation2DRangeScan &scan) const
23 {
24  T2DScanProperties scan_prop;
25  scan.getScanProperties(scan_prop);
26  return getSinCosForScan(scan_prop);
27 }
28 
29 /** Return two vectors with the cos and the sin of the angles for each of the
30  * rays in a scan, computing them only the first time and returning a cached copy the rest.
31  */
32 const CSinCosLookUpTableFor2DScans::TSinCosValues & CSinCosLookUpTableFor2DScans::getSinCosForScan(const T2DScanProperties &scan_prop) const
33 {
35  if (it!=m_cache.end())
36  { // Found in the cache:
37  return it->second;
38  }
39  else
40  {
41  // If there're too many LUTs, something is wrong, so just free the memory:
42  // (If you someday find someone with TWENTY *different* laser scanner models,
43  // please, accept my apologies... but send me a photo of them all!! ;-)
44  if ( m_cache.size()>20 ) m_cache.clear();
45 
46  // Compute and insert in the cache:
47  TSinCosValues &new_entry = m_cache[scan_prop];
48 
49  // Make sure the allocated memory at least have room for 4 extra double's at the end,
50  // for the case we use these buffers for SSE2 optimized code. If the final values are uninitialized it doesn't matter.
51  new_entry.ccos.resize(scan_prop.nRays+4);
52  new_entry.csin.resize(scan_prop.nRays+4);
53 
54  ASSERT_(scan_prop.nRays>=2)
55  if (scan_prop.nRays>0)
56  {
57  double Ang = (scan_prop.rightToLeft ? -0.5:+0.5) *scan_prop.aperture;
58  const double dA = (scan_prop.rightToLeft ? 1.0:-1.0) * (scan_prop.aperture / (scan_prop.nRays-1));
59 
60  for (size_t i=0;i<scan_prop.nRays;i++)
61  {
62  new_entry.ccos[i] = cos( Ang );
63  new_entry.csin[i] = sin( Ang );
64  Ang+=dA;
65  }
66  }
67  // return them:
68  return new_entry;
69  }
70 }
71 
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
void getScanProperties(T2DScanProperties &p) const
Fill out a T2DScanProperties structure with the parameters of this scan.
STL namespace.
const Scalar * const_iterator
Definition: eigen_plugins.h:24
Auxiliary struct that holds all the relevant geometry information about a 2D scan.
This namespace contains representation of robot actions and observations.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
#define ASSERT_(f)
bool rightToLeft
Angles storage order: true=counterclockwise; false=clockwise.



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