Namespaces
	detail

Classes
struct	CProfilerProxy

class	PointCloudAdapter
	An adapter to different kinds of point cloud object. More...

Typedefs
typedef unsigned long	POINTER_TYPE
	For performing type casting from a pointer to its numeric value. More...

typedef uint64_t	TNodeID
	The type for node IDs in graphs of different types. More...

typedef std::pair< TNodeID, TNodeID >	TPairNodeIDs
	A pair of node IDs. More...

Functions
void BASE_IMPEXP	global_profiler_enter (const char *func_name) MRPT_NO_THROWS

void BASE_IMPEXP	global_profiler_leave (const char *func_name) MRPT_NO_THROWS

double	DEG2RAD (const double x)
	Degrees to radians. More...

float	DEG2RAD (const float x)
	Degrees to radians. More...

float	DEG2RAD (const int x)
	Degrees to radians. More...

double	RAD2DEG (const double x)
	Radians to degrees. More...

float	RAD2DEG (const float x)
	Radians to degrees. More...

template<typename T >
int	sign (T x)
	Returns the sign of X as "1" or "-1". More...

template<typename T >
int	signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1". More...

template<typename T >
T	lowestPositive (const T a, const T b)
	Returns the lowest, possitive among two numbers. More...

template<typename T >
T	abs_diff (const T a, const T b)
	Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types) More...

template<typename T >
const T	min3 (const T &A, const T &B, const T &C)

template<typename T >
const T	max3 (const T &A, const T &B, const T &C)

template<typename T >
int	fix (T x)
	Rounds toward zero. More...

template<class R , class SMART_PTR >
R *	getAs (SMART_PTR &o)
	< Allow square() to be available under mrpt::math and mrpt::utils More...

template<class R , class SMART_PTR >
const R *	getAs (const SMART_PTR &o)
	Utility to get a cast'ed pointer from a smart pointer. More...

void BASE_IMPEXP	reverseBytesInPlace (bool &v_in_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

void BASE_IMPEXP	reverseBytesInPlace (uint8_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (int8_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (uint16_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (int16_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (uint32_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (int32_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (uint64_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (int64_t &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (float &v_in_out)

void BASE_IMPEXP	reverseBytesInPlace (double &v_in_out)

template<class T >
void	reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

template<typename T , typename K >
void	keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value. More...

template<typename T , typename K >
void	keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value. More...

template<typename T >
void	saturate (T &var, const T sat_min, const T sat_max)
	Saturate the value of var (the variable gets modified) so it does not get out of [min,max]. More...

template<typename T >
T	saturate_val (const T &value, const T sat_min, const T sat_max)
	Like saturate() but it returns the value instead of modifying the variable. More...

template<class T >
void	delete_safe (T *&ptr)
	Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL. More...

template<class VECTOR_T >
void	vector_strong_clear (VECTOR_T &v)
	Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...

template<typename T >
T	length2length4N (T len)
	Returns the smaller number >=len such that it's a multiple of 4. More...

Function Documentation

◆ abs_diff()

template<typename T >

T mrpt::mrpt::utils::abs_diff	(	const T	a,
		const T	b
	)

inline

Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types)

Definition at line 124 of file maps/CColouredPointsMap.h.

Referenced by mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), and mrpt::nav::CHolonomicND::evaluateGaps().

◆ DEG2RAD() [1/3]

double mrpt::mrpt::utils::DEG2RAD ( const double x )

inline

Degrees to radians.

Definition at line 82 of file maps/CColouredPointsMap.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::poses::CPose3D::fromString(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getAlignCmd(), mrpt::obs::VelodyneCalibration::internal_loadFromXMLNode(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::nav::CPTG_Holo_Blend::loadDefaultParams(), mrpt::nav::CPTG_DiffDrive_alpha::loadDefaultParams(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadDefaultParams(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::topography::TDatum10Params::TDatum10Params(), mrpt::topography::TDatum7Params::TDatum7Params(), mrpt::topography::TDatumHelmert2D::TDatumHelmert2D(), mrpt::topography::TDatumHelmert3D::TDatumHelmert3D(), mrpt::topography::TDatumTransfInterpolation::TDatumTransfInterpolation(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), TEST(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateLaserScansVisualization().

◆ DEG2RAD() [2/3]

float mrpt::mrpt::utils::DEG2RAD ( const float x )

inline

Degrees to radians.

Definition at line 84 of file maps/CColouredPointsMap.h.

◆ DEG2RAD() [3/3]

float mrpt::mrpt::utils::DEG2RAD ( const int x )

inline

Degrees to radians.

Definition at line 86 of file maps/CColouredPointsMap.h.

References ASSERTDEB_.

◆ delete_safe()

template<class T >

void mrpt::mrpt::utils::delete_safe ( T *& ptr )

Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL.

Definition at line 196 of file maps/CColouredPointsMap.h.

Referenced by mrpt::poses::CPoseRandomSampler::clear(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< 3 >::clear(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractNavigator::~CAbstractNavigator(), and mrpt::nav::CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive().

◆ fix()

template<typename T >

int mrpt::mrpt::utils::fix ( T x )

inline

Rounds toward zero.

Definition at line 133 of file maps/CColouredPointsMap.h.

◆ getAs() [1/2]

template<class R , class SMART_PTR >

R* mrpt::mrpt::utils::getAs ( SMART_PTR & o )

inline

< Allow square() to be available under mrpt::math and mrpt::utils

Utility to get a cast'ed pointer from a smart pointer

Definition at line 139 of file maps/CColouredPointsMap.h.

◆ getAs() [2/2]

template<class R , class SMART_PTR >

const R* mrpt::mrpt::utils::getAs ( const SMART_PTR & o )

inline

Utility to get a cast'ed pointer from a smart pointer.

Definition at line 143 of file maps/CColouredPointsMap.h.

◆ global_profiler_enter()

void BASE_IMPEXP mrpt::mrpt::utils::global_profiler_enter ( const char * func_name )

Definition at line 48 of file CTimeLogger.cpp.

References mrpt::utils::CTimeLogger::enter(), and global_profiler.

Referenced by mrpt::utils::CProfilerProxy::CProfilerProxy().

◆ global_profiler_leave()

void BASE_IMPEXP mrpt::mrpt::utils::global_profiler_leave ( const char * func_name )

Definition at line 51 of file CTimeLogger.cpp.

References global_profiler, and mrpt::utils::CTimeLogger::leave().

Referenced by mrpt::utils::CProfilerProxy::~CProfilerProxy().

◆ keep_max()

template<typename T , typename K >

void mrpt::mrpt::utils::keep_max	(	T &	var,
		const K	test_val
	)

inline

If the second argument is above the first one, set the first argument to this higher value.

Definition at line 176 of file maps/CColouredPointsMap.h.

Referenced by mrpt::nav::CMultiObjectiveMotionOptimizerBase::decide(), mrpt::utils::CTimeLogger::do_leave(), mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows(), mrpt::nav::CHolonomicND::gapsEstimator(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::vision::TSimpleFeatureList_templ< TSimpleFeature >::getMaxID(), mrpt::vision::CFeatureList::getMaxID(), mrpt::maps::CHeightGridMap2D_Base::getMinMaxHeight(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::maximum(), mrpt::math::minimum_maximum(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::hwdrivers::CGPSInterface::parseBuffer(), mrpt::utils::CTimeLogger::registerUserMeasure(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb(), mrpt::opengl::CMesh::updateColorsMatrix(), and mrpt::vision::CMatchedFeatureList::updateMaxID().

◆ keep_min()

template<typename T , typename K >

void mrpt::mrpt::utils::keep_min	(	T &	var,
		const K	test_val
	)

inline

If the second argument is below the first one, set the first argument to this lower value.

Definition at line 171 of file maps/CColouredPointsMap.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::utils::CTimeLogger::do_leave(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicND::gapsEstimator(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::maps::CHeightGridMap2D_Base::getMinMaxHeight(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(), mrpt::math::minimum(), mrpt::math::minimum_maximum(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render(), mrpt::utils::CTimeLogger::registerUserMeasure(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::vision::detail::trackFeatures_addNewFeats_simple_list(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb(), mrpt::opengl::CMesh::updateColorsMatrix(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

◆ length2length4N()

template<typename T >

T mrpt::mrpt::utils::length2length4N ( T len )

Returns the smaller number >=len such that it's a multiple of 4.

Definition at line 209 of file maps/CColouredPointsMap.h.

Referenced by mrpt::obs::CObservation2DRangeScan::resizeScan(), and mrpt::obs::CObservation2DRangeScan::resizeScanAndAssign().

◆ lowestPositive()

template<typename T >

T mrpt::mrpt::utils::lowestPositive	(	const T	a,
		const T	b
	)

Returns the lowest, possitive among two numbers.

If both are non-positive (<=0), the lowest one is returned.

Definition at line 112 of file maps/CColouredPointsMap.h.

◆ max3()

template<typename T >

const T mrpt::mrpt::utils::max3	(	const T &	A,
		const T &	B,
		const T &	C
	)

inline

Definition at line 129 of file maps/CColouredPointsMap.h.

◆ min3()

template<typename T >

const T mrpt::mrpt::utils::min3	(	const T &	A,
		const T &	B,
		const T &	C
	)

inline

Definition at line 128 of file maps/CColouredPointsMap.h.

◆ RAD2DEG() [1/2]

double mrpt::mrpt::utils::RAD2DEG ( const double x )

inline

Radians to degrees.

Definition at line 88 of file maps/CColouredPointsMap.h.

Referenced by mrpt::poses::CPose2D::asString(), mrpt::math::TPose2D::asString(), mrpt::poses::CPose3D::asString(), mrpt::math::TTwist2D::asString(), mrpt::math::TTwist3D::asString(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::nav::TWaypoint::getAsText(), mrpt::opengl::CFrustum::getHorzFOV(), mrpt::opengl::CFrustum::getHorzFOVLeft(), mrpt::opengl::CFrustum::getHorzFOVRight(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CFrustum::getVertFOV(), mrpt::opengl::CFrustum::getVertFOVDown(), mrpt::opengl::CFrustum::getVertFOVUp(), mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_alpha::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ RAD2DEG() [2/2]

float mrpt::mrpt::utils::RAD2DEG ( const float x )

inline

Radians to degrees.

Definition at line 90 of file maps/CColouredPointsMap.h.

◆ reverseBytes()

template<class T >

void mrpt::mrpt::utils::reverseBytes	(	const T &	v_in,
		T &	v_out
	)

inline

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Definition at line 162 of file maps/CColouredPointsMap.h.

Referenced by TEST().

◆ reverseBytesInPlace() [1/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( bool & v_in_out )

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Referenced by mrpt::utils::CStream::ReadBufferFixEndianness(), mrpt::hwdrivers::CVelodyneScanner::receivePackets(), and TEST().

◆ reverseBytesInPlace() [2/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( uint8_t & v_in_out )

◆ reverseBytesInPlace() [3/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( int8_t & v_in_out )

◆ reverseBytesInPlace() [4/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( uint16_t & v_in_out )

◆ reverseBytesInPlace() [5/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( int16_t & v_in_out )

◆ reverseBytesInPlace() [6/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( uint32_t & v_in_out )

◆ reverseBytesInPlace() [7/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( int32_t & v_in_out )

◆ reverseBytesInPlace() [8/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( uint64_t & v_in_out )

◆ reverseBytesInPlace() [9/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( int64_t & v_in_out )

◆ reverseBytesInPlace() [10/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( float & v_in_out )

◆ reverseBytesInPlace() [11/11]

void BASE_IMPEXP mrpt::mrpt::utils::reverseBytesInPlace ( double & v_in_out )

◆ saturate()

template<typename T >

void mrpt::mrpt::utils::saturate	(	T &	var,
		const T	sat_min,
		const T	sat_max
	)

inline

Saturate the value of var (the variable gets modified) so it does not get out of [min,max].

Definition at line 181 of file maps/CColouredPointsMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ saturate_val()

template<typename T >

T mrpt::mrpt::utils::saturate_val	(	const T &	value,
		const T	sat_min,
		const T	sat_max
	)

inline

Like saturate() but it returns the value instead of modifying the variable.

Definition at line 187 of file maps/CColouredPointsMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), and mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph().

◆ sign()

template<typename T >

int mrpt::mrpt::utils::sign ( T x )

inline

Returns the sign of X as "1" or "-1".

Definition at line 104 of file maps/CColouredPointsMap.h.

Referenced by mrpt::opengl::CAngularObservationMesh::TDoubleRange::amount(), mrpt::opengl::CAngularObservationMesh::TDoubleRange::aperture(), mrpt::opengl::CAngularObservationMesh::TDoubleRange::finalValue(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), and mrpt::opengl::CAngularObservationMesh::TDoubleRange::negToPos().

◆ signWithZero()

template<typename T >

int mrpt::mrpt::utils::signWithZero ( T x )

inline

Returns the sign of X as "0", "1" or "-1".

Definition at line 108 of file maps/CColouredPointsMap.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getAlignCmd(), and mrpt::nav::CPTG_Holo_Blend::getPathPose().

◆ vector_strong_clear()

template<class VECTOR_T >

void mrpt::mrpt::utils::vector_strong_clear ( VECTOR_T & v )

inline

Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory.

Definition at line 205 of file maps/CColouredPointsMap.h.

Namespaces

Classes

Typedefs

Functions

Function Documentation

◆ abs_diff()

◆ DEG2RAD() [1/3]

◆ DEG2RAD() [2/3]

◆ DEG2RAD() [3/3]

◆ delete_safe()

◆ fix()

◆ getAs() [1/2]

◆ getAs() [2/2]

◆ global_profiler_enter()

◆ global_profiler_leave()

◆ keep_max()

◆ keep_min()

◆ length2length4N()

◆ lowestPositive()

◆ max3()

◆ min3()

◆ RAD2DEG() [1/2]

◆ RAD2DEG() [2/2]

◆ reverseBytes()

◆ reverseBytesInPlace() [1/11]

◆ reverseBytesInPlace() [2/11]

◆ reverseBytesInPlace() [3/11]

◆ reverseBytesInPlace() [4/11]

◆ reverseBytesInPlace() [5/11]

◆ reverseBytesInPlace() [6/11]

◆ reverseBytesInPlace() [7/11]

◆ reverseBytesInPlace() [8/11]

◆ reverseBytesInPlace() [9/11]

◆ reverseBytesInPlace() [10/11]

◆ reverseBytesInPlace() [11/11]

◆ saturate()

◆ saturate_val()

◆ sign()

◆ signWithZero()

◆ vector_strong_clear()