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10 #define CDynamicGrid_H
17 #define _USE_MATH_DEFINES // (For VS to define M_PI, etc. in cmath)
29 virtual unsigned int getSizeX()
const = 0;
30 virtual unsigned int getSizeY()
const = 0;
31 virtual float getCellAsFloat(
unsigned int cx,
unsigned int cy)
const = 0;
52 CDynamicGrid(
double x_min = -10.0,
double x_max = 10.0,
double y_min = -10.0f,
double y_max = 10.0f,
double resolution = 0.10f) :
56 setSize(x_min,x_max,y_min,y_max,resolution);
70 const double x_min,
const double x_max,
71 const double y_min,
const double y_max,
72 const double resolution,
const T * fill_value = NULL)
101 inline void fill(
const T& value ) {
110 double new_x_min,
double new_x_max,
111 double new_y_min,
double new_y_max,
112 const T& defaultValueNewCells,
double additionalMarginMeters = 2.0 )
126 if (additionalMarginMeters>0)
128 if (new_x_min<
m_x_min) new_x_min= floor(new_x_min-additionalMarginMeters);
129 if (new_x_max>
m_x_max) new_x_max= ceil(new_x_max+additionalMarginMeters);
130 if (new_y_min<
m_y_min) new_y_min= floor(new_y_min-additionalMarginMeters);
131 if (new_y_max>
m_y_max) new_y_max= ceil(new_y_max+additionalMarginMeters);
152 typename std::vector<T> new_map;
153 new_map.resize(new_size_x*new_size_y,defaultValueNewCells);
160 for (x=0,itSrc=(
m_map.begin()+y*
m_size_x),itDst=(new_map.begin()+extra_x_izq + (y+extra_y_arr)*new_size_x);
185 const int cx =
x2idx(x);
186 const int cy =
y2idx(y);
187 if( cx<0 || cx>=
static_cast<int>(
m_size_x) )
return NULL;
188 if( cy<0 || cy>=
static_cast<int>(
m_size_y) )
return NULL;
194 const int cx =
x2idx(x);
195 const int cy =
y2idx(y);
196 if( cx<0 || cx>=
static_cast<int>(
m_size_x) )
return NULL;
197 if( cy<0 || cy>=
static_cast<int>(
m_size_y) )
return NULL;
212 inline const T*
cellByIndex(
unsigned int cx,
unsigned int cy )
const
246 inline void idx2cxcy(
const int &idx,
int &cx,
int &cy )
const
266 if (
m_map.empty())
return;
267 const T* c = &
m_map[0];
270 m.set_unsafe(cy,cx, *c++);
285 virtual unsigned int getSizeX()
const {
return m_obj.getSizeX(); }
286 virtual unsigned int getSizeY()
const {
return m_obj.getSizeY(); }
287 virtual float getCellAsFloat(
unsigned int cx,
unsigned int cy)
const {
return m_obj.cell2float(m_obj.m_map[ cx + cy*m_obj.getSizeX() ]); }
290 aux_saver aux(*
this);
291 return aux.saveToTextFile(fileName);
301 if (!cast_from_float) {
305 float xmin,xmax,ymin,ymax,res;
306 in >> xmin >> xmax >> ymin >> ymax >> res;
int round(const T value)
Returns the closer integer (int) to x.
CDynamicGrid(double x_min=-10.0, double x_max=10.0, double y_min=-10.0f, double y_max=10.0f, double resolution=0.10f)
Constructor.
void idx2cxcy(const int &idx, int &cx, int &cy) const
Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.
int x2idx(double x) const
Transform a coordinate values into cell indexes.
void dyngridcommon_readFromStream(mrpt::utils::CStream &in, bool cast_from_float=false)
size_t getSizeY() const
Returns the vertical size of grid map in cells count.
double getResolution() const
Returns the resolution of the grid map.
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
void dyngridcommon_writeToStream(mrpt::utils::CStream &out) const
void setSize(const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const T *fill_value=NULL)
Changes the size of the grid, ERASING all previous contents.
T * cellByPos(double x, double y)
Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void clear()
Erase the contents of all the cells.
double idx2y(int cy) const
int xy2idx(double x, double y) const
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
T * cellByIndex(unsigned int cx, unsigned int cy)
Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the ma...
void fill(const T &value)
Fills all the cells with the same value.
double getYMax() const
Returns the "y" coordinate of bottom side of grid map.
const T * cellByPos(double x, double y) const
This is an overloaded member function, provided for convenience. It differs from the above function o...
double getXMin() const
Returns the "x" coordinate of left side of grid map.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
double idx2x(int cx) const
Transform a cell index into a coordinate value of the cell central point.
void getAsMatrix(MAT &m) const
Get the entire grid as a matrix.
std::vector< T > & m_map_castaway_const() const
Used only from logically const method that really need to modify the object.
A 2D grid of dynamic size which stores any kind of data at each cell.
double getYMin() const
Returns the "y" coordinate of top side of grid map.
bool saveToTextFile(const std::string &fileName) const
Saves a float representation of the grid (via "cell2float()") to a text file.
virtual float cell2float(const T &c) const
The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a n...
virtual void resize(double new_x_min, double new_x_max, double new_y_min, double new_y_max, const T &defaultValueNewCells, double additionalMarginMeters=2.0)
Changes the size of the grid, maintaining previous contents.
int y2idx(double y) const
const T * cellByIndex(unsigned int cx, unsigned int cy) const
Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the ma...
double getXMax() const
Returns the "x" coordinate of right side of grid map.
std::vector< T > m_map
The cells.
virtual ~CDynamicGrid()
Destructor.
size_t getSizeX() const
Returns the horizontal size of grid map in cells count.
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