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9 #ifndef CSimplePointsMap_H
10 #define CSimplePointsMap_H
49 virtual void setPointFast(
size_t index,
float x,
float y,
float z)
MRPT_OVERRIDE;
51 virtual void insertPointFast(
float x,
float y,
float z = 0 )
MRPT_OVERRIDE;
58 virtual
void getPointAllFieldsFast( const
size_t index, std::vector<
float> & point_data ) const
MRPT_OVERRIDE {
60 point_data[0] = x[index];
61 point_data[1] = y[index];
62 point_data[2] = z[index];
70 x[index] = point_data[0];
71 y[index] = point_data[1];
72 z[index] = point_data[2];
112 virtual
void PLY_import_set_vertex_count(const
size_t N)
MRPT_OVERRIDE;
134 static const int HAS_RGB = 0;
135 static const int HAS_RGBf = 0;
136 static const int HAS_RGBu8 = 0;
141 inline size_t size()
const {
return m_obj.
size(); }
146 template <
typename T>
147 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
An adapter to different kinds of point cloud object.
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
size_t size() const
Returns the number of stored points in the map.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
void getPointFast(size_t index, float &x, float &y, float &z) const
Just like getPoint() but without checking out-of-bound index and without returning the point weight,...
virtual void resize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
With this struct options are provided to the observation insertion process.
size_t size() const
Get number of points.
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
void resize(const size_t N)
Set number of points (to uninitialized values)
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(),...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
virtual void setPointFast(size_t index, float x, float y, float z) MRPT_OVERRIDE
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
mrpt::maps::CSimplePointsMap & m_obj
float coords_t
The type of each point XYZ coordinates.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
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