CAtan2LookUpTable.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/CDynamicGrid.h>
#include <mrpt/base/link_pragmas.h>
#include <map>

namespace mrpt
{
namespace math
{
        /** A look-up-table (LUT) of atan values for any (x,y) value in a square/rectangular grid of predefined resolution
          *
          * \sa mrpt::math::CAtan2LookUpTableMultiRes, mrpt::obs::CSinCosLookUpTableFor2DScans
         * \ingroup mrpt_base_grp
          */
        class BASE_IMPEXP CAtan2LookUpTable
        {
        public:
                CAtan2LookUpTable() MRPT_NO_THROWS;
                CAtan2LookUpTable(double xmin,double xmax,double ymin,double ymax, double resolution) MRPT_NO_THROWS;
                void resize(double xmin,double xmax,double ymin,double ymax, double resolution) MRPT_NO_THROWS;

                /** Returns the precomputed value for atan2(y,x). \return false if out of grid bounds. */
                bool atan2(double y,double x, double &out_atan2) const MRPT_NO_THROWS;

                double getXMin() const { return m_grid.getXMin(); }
                double getXMax() const { return m_grid.getXMax(); }
                double getYMin() const { return m_grid.getYMin(); }
                double getYMax() const { return m_grid.getYMax(); }
                double getResolution() const { return m_grid.getResolution(); }
        private:
                mrpt::utils::CDynamicGrid<double> m_grid;
        };

        /** Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin.
         * Example of usage:
         * \code
         *  mrpt::math::CAtan2LookUpTableMultiRes atan2lut;
         *  std::map<double,double> res2extension;
         *  res2extension[0.001] = 0.5;  // 0.1 cm resolution up to 0.5 m
         *  res2extension[0.01]  = 1.0;  //  1 cm resolution up to 1 m
         *  res2extension[0.02]  = 3.0;  //  2 cm resolution up to 3 m
         *  res2extension[0.05]  = 7.5;  //  5 cm resolution up to 7.5 m
         *  res2extension[0.10]  = 12.0; // 10 cm resolution up to  12 m
         *  atan2lut.resize(res2extension);
         * \endcode
         * \ingroup mrpt_base_grp
          */
        class BASE_IMPEXP CAtan2LookUpTableMultiRes
        {
        public:
                CAtan2LookUpTableMultiRes() MRPT_NO_THROWS;
                CAtan2LookUpTableMultiRes(const std::map<double,double> & lst_resolutions2extensions ) MRPT_NO_THROWS;  //!< See CAtan2LookUpTableMultiRes for a discussion of the parameters
                void resize(const std::map<double,double> & lst_resolutions2extensions) MRPT_NO_THROWS;  //!< See CAtan2LookUpTableMultiRes for a discussion of the parameters

                /** Returns the precomputed value for atan2(y,x). \return false if out of grid bounds. */
                bool atan2(double y,double x, double &out_atan2) const MRPT_NO_THROWS;
        private:
                std::map<double,mrpt::utils::CDynamicGrid<double> > m_grids;  //!< Maps from maximum (X,Y) coordinates to LUT for [-L,L]x[-L,L] square area.
        };

} // end NS math
} // end NS mrpt