Detailed Description

Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin.

Example of usage:

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);

Definition at line 57 of file CAtan2LookUpTable.h.

#include <mrpt/math/CAtan2LookUpTable.h>

Public Member Functions
	CAtan2LookUpTableMultiRes () MRPT_NO_THROWS

	CAtan2LookUpTableMultiRes (const std::map< double, double > &lst_resolutions2extensions) MRPT_NO_THROWS
	See CAtan2LookUpTableMultiRes for a discussion of the parameters. More...

void	resize (const std::map< double, double > &lst_resolutions2extensions) MRPT_NO_THROWS
	See CAtan2LookUpTableMultiRes for a discussion of the parameters. More...

bool	atan2 (double y, double x, double &out_atan2) const MRPT_NO_THROWS
	Returns the precomputed value for atan2(y,x). More...

Private Attributes
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. More...

Constructor & Destructor Documentation

◆ CAtan2LookUpTableMultiRes() [1/2]

CAtan2LookUpTableMultiRes::CAtan2LookUpTableMultiRes ( )

Definition at line 63 of file CAtan2LookUpTable.cpp.

◆ CAtan2LookUpTableMultiRes() [2/2]

CAtan2LookUpTableMultiRes::CAtan2LookUpTableMultiRes ( const std::map< double, double > & lst_resolutions2extensions )

See CAtan2LookUpTableMultiRes for a discussion of the parameters.

Definition at line 66 of file CAtan2LookUpTable.cpp.

Member Function Documentation

◆ atan2()

bool CAtan2LookUpTableMultiRes::atan2	(	double	y,
		double	x,
		double &	out_atan2
	)		const

Returns the precomputed value for atan2(y,x).

Returns: false if out of grid bounds.

Definition at line 100 of file CAtan2LookUpTable.cpp.

References mrpt::utils::CDynamicGrid< T >::cellByPos().

◆ resize()

void CAtan2LookUpTableMultiRes::resize ( const std::map< double, double > & lst_resolutions2extensions )

See CAtan2LookUpTableMultiRes for a discussion of the parameters.

Definition at line 70 of file CAtan2LookUpTable.cpp.

References mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), mrpt::utils::CDynamicGrid< T >::getSizeY(), mrpt::utils::CDynamicGrid< T >::idx2x(), and mrpt::utils::CDynamicGrid< T >::idx2y().

Referenced by TEST().

Member Data Documentation

◆ m_grids

std::map<double,mrpt::utils::CDynamicGrid<double> > mrpt::math::CAtan2LookUpTableMultiRes::m_grids

private

Maps from maximum (X,Y) coordinates to LUT for [-L,L]x[-L,L] square area.

Definition at line 67 of file CAtan2LookUpTable.h.