Detailed Description

template<class T>
class mrpt::utils::CDynamicGrid< T >

A 2D grid of dynamic size which stores any kind of data at each cell.

Template Parameters

T	The type of each cell in the 2D grid.

Definition at line 40 of file CDynamicGrid.h.

#include <mrpt/utils/CDynamicGrid.h>

Inheritance diagram for mrpt::utils::CDynamicGrid< T >:

Public Member Functions
	CDynamicGrid (double x_min=-10.0, double x_max=10.0, double y_min=-10.0f, double y_max=10.0f, double resolution=0.10f)
	Constructor. More...

virtual	~CDynamicGrid ()
	Destructor. More...

void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const T *fill_value=NULL)
	Changes the size of the grid, ERASING all previous contents. More...

void	clear ()
	Erase the contents of all the cells. More...

void	fill (const T &value)
	Fills all the cells with the same value. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const T &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

T *	cellByPos (double x, double y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. More...

const T *	cellByPos (double x, double y) const

T *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...

const T *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...

size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count. More...

size_t	getSizeY () const
	Returns the vertical size of grid map in cells count. More...

double	getXMin () const
	Returns the "x" coordinate of left side of grid map. More...

double	getXMax () const
	Returns the "x" coordinate of right side of grid map. More...

double	getYMin () const
	Returns the "y" coordinate of top side of grid map. More...

double	getYMax () const
	Returns the "y" coordinate of bottom side of grid map. More...

double	getResolution () const
	Returns the resolution of the grid map. More...

int	x2idx (double x) const
	Transform a coordinate values into cell indexes. More...

int	y2idx (double y) const

int	xy2idx (double x, double y) const

void	idx2cxcy (const int &idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...

double	idx2x (int cx) const
	Transform a cell index into a coordinate value of the cell central point. More...

double	idx2y (int cy) const

template<class MAT >
void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix. More...

virtual float	cell2float (const T &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...

bool	saveToTextFile (const std::string &fileName) const
	Saves a float representation of the grid (via "cell2float()") to a text file. More...

Protected Member Functions
std::vector< T > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (mrpt::utils::CStream &out) const

void	dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)

Protected Attributes
std::vector< T >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_resolution

size_t	m_size_x

size_t	m_size_y

Constructor & Destructor Documentation

◆ CDynamicGrid()

template<class T>

mrpt::utils::CDynamicGrid< T >::CDynamicGrid	(	double	x_min = `-10.0`,
		double	x_max = `10.0`,
		double	y_min = `-10.0f`,
		double	y_max = `10.0f`,
		double	resolution = `0.10f`
	)

inline

Constructor.

Definition at line 52 of file CDynamicGrid.h.

◆ ~CDynamicGrid()

template<class T>

virtual mrpt::utils::CDynamicGrid< T >::~CDynamicGrid ( )

inlinevirtual

Destructor.

Definition at line 60 of file CDynamicGrid.h.

Member Function Documentation

◆ cell2float()

template<class T>

virtual float mrpt::utils::CDynamicGrid< T >::cell2float ( const T & c ) const

inlinevirtual

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Reimplemented in mrpt::maps::CReflectivityGridMap2D.

Definition at line 274 of file CDynamicGrid.h.

◆ cellByIndex() [1/2]

template<class T>

T* mrpt::utils::CDynamicGrid< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)

inline

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 203 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::COccupancyGridMap2D::getBasisCell(), mrpt::maps::COccupancyGridMap2D::getVoroniClearance(), mrpt::math::CAtan2LookUpTableMultiRes::resize(), mrpt::maps::COccupancyGridMap2D::setBasisCell(), mrpt::maps::COccupancyGridMap2D::setVoroniClearance(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ cellByIndex() [2/2]

template<class T>

const T* mrpt::utils::CDynamicGrid< T >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const

inline

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 212 of file CDynamicGrid.h.

◆ cellByPos() [1/2]

template<class T>

T* mrpt::utils::CDynamicGrid< T >::cellByPos	(	double	x,
		double	y
	)

inline

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 183 of file CDynamicGrid.h.

Referenced by mrpt::math::CAtan2LookUpTableMultiRes::atan2(), mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject(), and mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

◆ cellByPos() [2/2]

template<class T>

const T* mrpt::utils::CDynamicGrid< T >::cellByPos	(	double	x,
		double	y
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 192 of file CDynamicGrid.h.

◆ clear()

template<class T>

void mrpt::utils::CDynamicGrid< T >::clear ( )

inline

Erase the contents of all the cells.

Definition at line 94 of file CDynamicGrid.h.

Referenced by mrpt::maps::COccupancyGridMap2D::copyMapContentFrom(), mrpt::maps::COccupancyGridMap2D::freeMap(), and mrpt::maps::COccupancyGridMap2D::setSize().

◆ dyngridcommon_readFromStream()

template<class T>

void mrpt::utils::CDynamicGrid< T >::dyngridcommon_readFromStream	(	mrpt::utils::CStream &	in,
		bool	cast_from_float = `false`
	)

inlineprotected

Definition at line 300 of file CDynamicGrid.h.

◆ dyngridcommon_writeToStream()

template<class T>

void mrpt::utils::CDynamicGrid< T >::dyngridcommon_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotected

Definition at line 295 of file CDynamicGrid.h.

◆ fill()

template<class T>

void mrpt::utils::CDynamicGrid< T >::fill ( const T & value )

inline

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear(), and mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

◆ getAsMatrix()

template<class T>

template<class MAT >

void mrpt::utils::CDynamicGrid< T >::getAsMatrix ( MAT & m ) const

inline

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a mrpt::math::CMatrixDouble.

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 263 of file CDynamicGrid.h.

◆ getResolution()

template<class T>

double mrpt::utils::CDynamicGrid< T >::getResolution ( ) const

inline

Returns the resolution of the grid map.

Definition at line 238 of file CDynamicGrid.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

◆ getSizeX()

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::getSizeX ( ) const

inline

Returns the horizontal size of grid map in cells count.

Definition at line 220 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::COccupancyGridMap2D::getBasisCell(), mrpt::maps::COccupancyGridMap2D::getVoroniClearance(), mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::CAtan2LookUpTableMultiRes::resize(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::saveToTextFile(), mrpt::maps::COccupancyGridMap2D::setBasisCell(), mrpt::maps::COccupancyGridMap2D::setVoroniClearance(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ getSizeY()

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::getSizeY ( ) const

inline

Returns the vertical size of grid map in cells count.

Definition at line 223 of file CDynamicGrid.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::COccupancyGridMap2D::getBasisCell(), mrpt::maps::COccupancyGridMap2D::getVoroniClearance(), mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::CAtan2LookUpTableMultiRes::resize(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::saveToTextFile(), mrpt::maps::COccupancyGridMap2D::setBasisCell(), mrpt::maps::COccupancyGridMap2D::setVoroniClearance(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ getXMax()

template<class T>

double mrpt::utils::CDynamicGrid< T >::getXMax ( ) const

inline

Returns the "x" coordinate of right side of grid map.

Definition at line 229 of file CDynamicGrid.h.

◆ getXMin()

template<class T>

double mrpt::utils::CDynamicGrid< T >::getXMin ( ) const

inline

Returns the "x" coordinate of left side of grid map.

Definition at line 226 of file CDynamicGrid.h.

◆ getYMax()

template<class T>

double mrpt::utils::CDynamicGrid< T >::getYMax ( ) const

inline

Returns the "y" coordinate of bottom side of grid map.

Definition at line 235 of file CDynamicGrid.h.

◆ getYMin()

template<class T>

double mrpt::utils::CDynamicGrid< T >::getYMin ( ) const

inline

Returns the "y" coordinate of top side of grid map.

Definition at line 232 of file CDynamicGrid.h.

◆ idx2cxcy()

template<class T>

void mrpt::utils::CDynamicGrid< T >::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const

inline

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 246 of file CDynamicGrid.h.

◆ idx2x()

template<class T>

double mrpt::utils::CDynamicGrid< T >::idx2x ( int cx ) const

inline

Transform a cell index into a coordinate value of the cell central point.

Definition at line 253 of file CDynamicGrid.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::math::CAtan2LookUpTableMultiRes::resize().

◆ idx2y()

template<class T>

double mrpt::utils::CDynamicGrid< T >::idx2y ( int cy ) const

inline

Definition at line 254 of file CDynamicGrid.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::math::CAtan2LookUpTableMultiRes::resize().

◆ m_map_castaway_const()

template<class T>

std::vector<T>& mrpt::utils::CDynamicGrid< T >::m_map_castaway_const ( ) const

inlineprotected

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

◆ resize()

template<class T>

virtual void mrpt::utils::CDynamicGrid< T >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const T &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtual

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 109 of file CDynamicGrid.h.

◆ saveToTextFile()

template<class T>

bool mrpt::utils::CDynamicGrid< T >::saveToTextFile ( const std::string & fileName ) const

inline

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns: false on error

Definition at line 280 of file CDynamicGrid.h.

◆ setSize()

template<class T>

void mrpt::utils::CDynamicGrid< T >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const T *	fill_value = `NULL`
	)

inline

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See also: resize, fill

Definition at line 69 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::CDynamicGrid(), mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

◆ x2idx()

template<class T>

int mrpt::utils::CDynamicGrid< T >::x2idx ( double x ) const

inline

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx().

◆ xy2idx()

template<class T>

int mrpt::utils::CDynamicGrid< T >::xy2idx	(	double	x,
		double	y
	)		const

inline

Definition at line 243 of file CDynamicGrid.h.

◆ y2idx()

template<class T>

int mrpt::utils::CDynamicGrid< T >::y2idx ( double y ) const

inline

Definition at line 242 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx().

Member Data Documentation

◆ m_map

template<class T>

std::vector<T> mrpt::utils::CDynamicGrid< T >::m_map

protected

The cells.

Definition at line 43 of file CDynamicGrid.h.

◆ m_resolution

template<class T>

double mrpt::utils::CDynamicGrid< T >::m_resolution

protected

Definition at line 47 of file CDynamicGrid.h.

◆ m_size_x

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::m_size_x

protected

Definition at line 48 of file CDynamicGrid.h.

◆ m_size_y

template<class T>

size_t mrpt::utils::CDynamicGrid< T >::m_size_y

protected

Definition at line 48 of file CDynamicGrid.h.

◆ m_x_max

template<class T>

double mrpt::utils::CDynamicGrid< T >::m_x_max

protected

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMax(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize().

◆ m_x_min

template<class T>

double mrpt::utils::CDynamicGrid< T >::m_x_min

protected

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMin(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx().

◆ m_y_max

template<class T>

double mrpt::utils::CDynamicGrid< T >::m_y_max

protected

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMax(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize().

◆ m_y_min

template<class T>

double mrpt::utils::CDynamicGrid< T >::m_y_min

protected

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMin(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::y2idx().

Detailed Description

template<class T> class mrpt::utils::CDynamicGrid< T >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ CDynamicGrid()

◆ ~CDynamicGrid()

Member Function Documentation

◆ cell2float()

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ fill()

◆ getAsMatrix()

◆ getResolution()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ idx2cxcy()

◆ idx2x()

◆ idx2y()

◆ m_map_castaway_const()

◆ resize()

◆ saveToTextFile()

◆ setSize()

◆ x2idx()

◆ xy2idx()

◆ y2idx()

Member Data Documentation

◆ m_map

◆ m_resolution

◆ m_size_x

◆ m_size_y

◆ m_x_max

◆ m_x_min

◆ m_y_max

◆ m_y_min

template<class T>
class mrpt::utils::CDynamicGrid< T >