class mrpt::obs::CSinCosLookUpTableFor2DScans

A smart look-up-table (LUT) of sin/cos values for 2D laser scans.

Refer to the main method CSinCosLookUpTableFor2DScans::getSinCosForScan()

This class is used in mrpt::maps::CPointsMap

#include <mrpt/obs/CSinCosLookUpTableFor2DScans.h>

class CSinCosLookUpTableFor2DScans
{
public:
    // structs

    struct TSinCosValues;

    // construction

    CSinCosLookUpTableFor2DScans();
    CSinCosLookUpTableFor2DScans(const CSinCosLookUpTableFor2DScans&);

    //
methods

    CSinCosLookUpTableFor2DScans& operator = (const CSinCosLookUpTableFor2DScans&);
    const TSinCosValues& getSinCosForScan(const CObservation2DRangeScan& scan) const;
    const TSinCosValues& getSinCosForScan(const T2DScanProperties& scan_prop) const;
};

Construction

CSinCosLookUpTableFor2DScans(const CSinCosLookUpTableFor2DScans&)

Do NOT copy neither the cache nor the mutex.

Methods

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, computing them only the first time and returning a cached copy the rest.

Usage:

  CSinCosLookUpTableFor2DScans cache;
  ...
  const CSinCosLookUpTableFor2DScans::TSinCosValues & sincos_vals =
cache.getSinCosForScan( scan );

const TSinCosValues& getSinCosForScan(const T2DScanProperties& scan_prop) const

Return two vectors with the cos and the sin of the angles for each of the rays in a scan, computing them only the first time and returning a cached copy the rest.

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