19 class CObservation2DRangeScan;
64 mutable std::map<T2DScanProperties, TSinCosValues>
m_cache;
std::map< T2DScanProperties, TSinCosValues > m_cache
The cache of known scans and their sin/cos tables.
const TSinCosValues & getSinCosForScan(const CObservation2DRangeScan &scan) const
Return two vectors with the cos and the sin of the angles for each of the rays in a scan...
Template for column vectors of dynamic size, compatible with Eigen.
mrpt::math::CVectorFloat ccos
std::recursive_mutex m_cache_mtx
Auxiliary struct that holds all the relevant geometry information about a 2D scan.
A smart look-up-table (LUT) of sin/cos values for 2D laser scans.
This namespace contains representation of robot actions and observations.
CSinCosLookUpTableFor2DScans()=default
CSinCosLookUpTableFor2DScans & operator=(const CSinCosLookUpTableFor2DScans &)
mrpt::math::CVectorFloat csin
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A pair of vectors with the cos and sin values.
CSinCosLookUpTableFor2DScans(const CSinCosLookUpTableFor2DScans &)
Do NOT copy neither the cache nor the mutex.