karto::Grid< T > Class Template Reference

#include <Karto.h>

List of all members.

Public Member Functions
void	Clear ()
Grid *	Clone ()
BoundingBox2	GetBoundingBox () const
CoordinateConverter *	GetCoordinateConverter () const
T *	GetDataPointer (const Vector2< kt_int32s > &rGrid)
T *	GetDataPointer (const Vector2< kt_int32s > &rGrid) const
T *	GetDataPointer ()
T *	GetDataPointer () const
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 4352 of file Karto.h.

---

Constructor & Destructor Documentation

template<typename T>

virtual karto::Grid< T >::~Grid

(

)

[inline, virtual]

Destructor

Definition at line 4374 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 4723 of file Karto.h.

---

Member Function Documentation

template<typename T>

void karto::Grid< T >::Clear

(

)

[inline]

Clear out the grid data

Definition at line 4384 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 4393 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 4362 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 4636 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 4618 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 4523 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 4534 of file Karto.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer

(

)

[inline]

Gets the grid data pointer

Returns:

data pointer

Definition at line 4580 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 4589 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 4598 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 4553 of file Karto.h.

template<typename T>

kt_double karto::Grid< T >::GetResolution

(

)

const [inline]

Gets the resolution

Returns:

resolution

Definition at line 4627 of file Karto.h.

template<typename T>

const Size2<kt_int32s> karto::Grid< T >::GetSize

(

)

const [inline]

Get the size as a Size2<kt_int32s>

Returns:

size of the grid

Definition at line 4562 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 4608 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 4544 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 4571 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 4458 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
flipY

Returns:

world coordinate

Definition at line 4513 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:

index

Returns:

grid coordinate

Definition at line 4486 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:

rGrid

Definition at line 4447 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 4408 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 4650 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
flipY

Returns:

grid coordinate

Definition at line 4502 of file Karto.h.

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Member Data Documentation

template<typename T>

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

Definition at line 4732 of file Karto.h.

template<typename T>

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

Definition at line 4737 of file Karto.h.

template<typename T>

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

Definition at line 4734 of file Karto.h.

template<typename T>

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

Definition at line 4731 of file Karto.h.

template<typename T>

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

Definition at line 4733 of file Karto.h.

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

• Karto.h