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
Definition at line 31 of file obs/CSinCosLookUpTableFor2DScans.h.
#include <mrpt/obs/CSinCosLookUpTableFor2DScans.h>
Classes | |
struct | TSinCosValues |
A pair of vectors with the cos and sin values. More... | |
Public Member Functions | |
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. More... | |
const TSinCosValues & | getSinCosForScan (const T2DScanProperties &scan_prop) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
Private Attributes | |
std::map< T2DScanProperties, TSinCosValues > | m_cache |
The cache of known scans and their sin/cos tables. More... | |
const TSinCosValues & mrpt::obs::CSinCosLookUpTableFor2DScans::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:
const TSinCosValues & mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan | ( | const T2DScanProperties & | scan_prop | ) | const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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mutableprivate |
The cache of known scans and their sin/cos tables.
Definition at line 53 of file obs/CSinCosLookUpTableFor2DScans.h.
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