karto::Grid< T > Class Template Reference

#include <Karto.h>

Public Member Functions
void	Clear ()
Grid *	Clone ()
BoundingBox2	GetBoundingBox () const
CoordinateConverter *	GetCoordinateConverter () const
T *	GetDataPointer () const
T *	GetDataPointer ()
T *	GetDataPointer (const Vector2< kt_int32s > &rGrid) const
T *	GetDataPointer (const Vector2< kt_int32s > &rGrid)
kt_int32s	GetDataSize () const
kt_int32s	GetHeight () const
kt_double	GetResolution () const
const Size2< kt_int32s >	GetSize () const
T	GetValue (const Vector2< kt_int32s > &rGrid) const
kt_int32s	GetWidth () const
kt_int32s	GetWidthStep () const
virtual kt_int32s	GridIndex (const Vector2< kt_int32s > &rGrid, kt_bool boundaryCheck=true) const
Vector2< kt_double >	GridToWorld (const Vector2< kt_int32s > &rGrid, kt_bool flipY=false) const
Vector2< kt_int32s >	IndexToGrid (kt_int32s index) const
kt_bool	IsValidGridIndex (const Vector2< kt_int32s > &rGrid) const
virtual void	Resize (kt_int32s width, kt_int32s height)
void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)
Vector2< kt_int32s >	WorldToGrid (const Vector2< kt_double > &rWorld, kt_bool flipY=false) const
virtual	~Grid ()
Static Public Member Functions
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)
Protected Member Functions
	Grid (kt_int32s width, kt_int32s height)
Private Attributes
kt_int32s	m_Height
CoordinateConverter *	m_pCoordinateConverter
T *	m_pData
kt_int32s	m_Width
kt_int32s	m_WidthStep

Detailed Description

template<typename T>
class karto::Grid< T >

Defines a grid class

Definition at line 4182 of file Karto.h.

Constructor & Destructor Documentation

template<typename T>

virtual karto::Grid< T >::~Grid ( ) [inline, virtual]

Destructor

Definition at line 4204 of file Karto.h.

template<typename T>

karto::Grid< T >::Grid	(	kt_int32s	width,
		kt_int32s	height
	)			`[inline, protected]`

Constructs grid of given size

Parameters:

	width
	height

Definition at line 4547 of file Karto.h.

Member Function Documentation

template<typename T>

void karto::Grid< T >::Clear ( ) [inline]

Clear out the grid data

Definition at line 4214 of file Karto.h.

template<typename T>

Grid* karto::Grid< T >::Clone ( ) [inline]

Returns a clone of this grid

Returns:: grid clone

Definition at line 4223 of file Karto.h.

template<typename T>

static Grid* karto::Grid< T >::CreateGrid	(	kt_int32s	width,
		kt_int32s	height,
		kt_double	resolution
	)			`[inline, static]`

Creates a grid of given size and resolution

Parameters:

	width
	height
	resolution

Returns:: grid pointer

Definition at line 4192 of file Karto.h.

template<typename T>

BoundingBox2 karto::Grid< T >::GetBoundingBox ( ) const [inline]

Gets the grids bounding box

Returns:: bounding box

Definition at line 4460 of file Karto.h.

template<typename T>

CoordinateConverter* karto::Grid< T >::GetCoordinateConverter ( ) const [inline]

Gets the coordinate converter for this grid

Returns:: coordinate converter

Definition at line 4442 of file Karto.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( ) const [inline]

Gets const grid data pointer

Returns:: data pointer

Definition at line 4413 of file Karto.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( ) [inline]

Gets the grid data pointer

Returns:: data pointer

Definition at line 4404 of file Karto.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( const Vector2< kt_int32s > & rGrid ) const [inline]

Gets pointer to data at given grid coordinate

Parameters:

rGrid

grid coordinate

Returns:: grid point

Definition at line 4362 of file Karto.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( const Vector2< kt_int32s > & rGrid ) [inline]

Gets pointer to data at given grid coordinate

Parameters:

rGrid

grid coordinate

Returns:: grid point

Definition at line 4351 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::GetDataSize ( ) const [inline]

Gets the allocated grid size in bytes

Returns:: data size

Definition at line 4422 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::GetHeight ( ) const [inline]

Gets the height of the grid

Returns:: height of the grid

Definition at line 4381 of file Karto.h.

template<typename T>

kt_double karto::Grid< T >::GetResolution ( ) const [inline]

Gets the resolution

Returns:: resolution

Definition at line 4451 of file Karto.h.

template<typename T>

const Size2<kt_int32s> karto::Grid< T >::GetSize ( ) const [inline]

Definition at line 4386 of file Karto.h.

template<typename T>

T karto::Grid< T >::GetValue ( const Vector2< kt_int32s > & rGrid ) const [inline]

Get value at given grid coordinate

Parameters:

rGrid

grid coordinate

Returns:: value

Definition at line 4432 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::GetWidth ( ) const [inline]

Gets the width of the grid

Returns:: width of the grid

Definition at line 4372 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::GetWidthStep ( ) const [inline]

Gets the width step in bytes

Returns:: width step

Definition at line 4395 of file Karto.h.

template<typename T>

virtual kt_int32s karto::Grid< T >::GridIndex	(	const Vector2< kt_int32s > &	rGrid,
		kt_bool	boundaryCheck = `true`
	)			const `[inline, virtual]`

Gets the index into the data pointer of the given grid coordinate

Parameters:

	rGrid
	boundaryCheck	default value is true

Returns:: grid index

Reimplemented in karto::CorrelationGrid.

Definition at line 4289 of file Karto.h.

template<typename T>

Vector2<kt_double> karto::Grid< T >::GridToWorld	(	const Vector2< kt_int32s > &	rGrid,
		kt_bool	flipY = `false`
	)			const `[inline]`

Converts the point from grid coordinates to world coordinates

Parameters:

rGrid

world coordinate

Returns:: world coordinate

Definition at line 4341 of file Karto.h.

template<typename T>

Vector2<kt_int32s> karto::Grid< T >::IndexToGrid ( kt_int32s index ) const [inline]

Gets the grid coordinate from an index

Parameters:

grid

index

Returns:: grid coordinate

Definition at line 4316 of file Karto.h.

template<typename T>

kt_bool karto::Grid< T >::IsValidGridIndex ( const Vector2< kt_int32s > & rGrid ) const [inline]

Checks whether the given coordinates are valid grid indices

Parameters:

	x
	y

Definition at line 4278 of file Karto.h.

template<typename T>

virtual void karto::Grid< T >::Resize	(	kt_int32s	width,
		kt_int32s	height
	)			`[inline, virtual]`

Resizes the grid (deletes all old data)

Parameters:

	width
	height

Reimplemented in karto::OccupancyGrid.

Definition at line 4238 of file Karto.h.

template<typename T>

void karto::Grid< T >::TraceLine	(	kt_int32s	x0,
		kt_int32s	y0,
		kt_int32s	x1,
		kt_int32s	y1,
		Functor *	f = `NULL`
	)			`[inline]`

Increments all the grid cells from (x0, y0) to (x1, y1); if applicable, apply f to each cell traced

Parameters:

	x0
	y0
	x1
	y1
	f

Definition at line 4474 of file Karto.h.

template<typename T>

Vector2<kt_int32s> karto::Grid< T >::WorldToGrid	(	const Vector2< kt_double > &	rWorld,
		kt_bool	flipY = `false`
	)			const `[inline]`

Converts the point from world coordinates to grid coordinates

Parameters:

rWorld

world coordinate

Returns:: grid coordinate

Definition at line 4331 of file Karto.h.

Member Data Documentation

template<typename T>

kt_int32s karto::Grid< T >::m_Height [private]

Definition at line 4556 of file Karto.h.

template<typename T>

CoordinateConverter* karto::Grid< T >::m_pCoordinateConverter [private]

Definition at line 4560 of file Karto.h.

template<typename T>

T* karto::Grid< T >::m_pData [private]

Definition at line 4558 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::m_Width [private]

Definition at line 4555 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::m_WidthStep [private]

Definition at line 4557 of file Karto.h.

The documentation for this class was generated from the following file:

Karto.h

karto::Grid< T > Class Template Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename T> class karto::Grid< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class karto::Grid< T >