#include <Grid.h>

Inheritance diagram for karto::Grid< T >:

Static Public Member Functions
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)

Protected Member Functions
void	Clear ()

Grid *	Clone ()

BoundingBox2	GetBoundingBox () const

CoordinateConverter *	GetCoordinateConverter () const

T *	GetDataPointer (const Vector2i &rGrid)

T *	GetDataPointer (const Vector2i &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 Vector2i &rGrid) const

kt_int32s	GetWidth () const

kt_int32s	GetWidthStep () const

	Grid (kt_int32s width, kt_int32s height)

virtual kt_int32s	GridIndex (const Vector2i &rGrid, kt_bool boundaryCheck=true) const

Vector2d	GridToWorld (const Vector2i &rGrid, kt_bool flipY=false) const

Vector2i	IndexToGrid (kt_int32s index) const

kt_bool	IsValidGridIndex (const Vector2i &rGrid) const

virtual void	Resize (kt_int32s width, kt_int32s height)

void	SetValue (const Vector2i &rGrid, T rValue) const

void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)

Vector2i	WorldToGrid (const Vector2d &rWorld, kt_bool flipY=false) const

Protected Member Functions inherited from karto::Object
const Identifier &	GetIdentifier () const

AbstractParameter *	GetParameter (const String &rParameterName) const

template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const

ParameterList	GetParameters ()

ParameterSet *	GetParameterSet ()

template<typename T >
void	SetParameters (const karto::String &rParameterName, const T &rValue)

Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()

kt_int32s	Reference () const

kt_int32s	Unreference () const

kt_int32s	UnreferenceNoDelete () const

Private Member Functions
	Grid (const Grid &)

	KARTO_RTTI ()

const Grid &	operator= (const Grid &)

Private Attributes
kt_int32s	m_Height

CoordinateConverter *	m_pCoordinateConverter

T *	m_pData

kt_int32s	m_Width

kt_int32s	m_WidthStep

Additional Inherited Members
Public Member Functions inherited from karto::Object
	Object ()

	Object (const Identifier &rIdentifier)

Public Member Functions inherited from karto::Referenced
	Referenced ()

Detailed Description

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

Defines a grid

Definition at line 56 of file Grid.h.

Constructor & Destructor Documentation

template<typename T>

karto::Grid< T >::Grid	(	kt_int32s	width,
		kt_int32s	height
	)

inlineprotected

Constructs grid of given size

Parameters

width	width
height	height

Definition at line 444 of file Grid.h.

template<typename T>

karto::Grid< T >::Grid ( const Grid< T > & )

private

Member Function Documentation

template<typename T>

void karto::Grid< T >::Clear ( )

inlineprotected

public: /** Clears out the grid data

Definition at line 93 of file Grid.h.

template<typename T>

Grid* karto::Grid< T >::Clone ( )

inlineprotected

Returns a clone of this grid

Returns: grid clone

Definition at line 102 of file Grid.h.

template<typename T>

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

inlinestatic

Creates a grid of given size and resolution

Parameters

width	width
height	height
resolution	resolution

Returns: grid pointer

Definition at line 68 of file Grid.h.

template<typename T>

BoundingBox2 karto::Grid< T >::GetBoundingBox ( ) const

inlineprotected

Gets this grid's bounding box

Returns: bounding box

Definition at line 357 of file Grid.h.

template<typename T>

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

inlineprotected

Gets the coordinate converter for this grid

Returns: coordinate converter for this grid

Definition at line 339 of file Grid.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( const Vector2i & rGrid )

inlineprotected

Gets pointer to data at given grid coordinate

Parameters

rGrid grid coordinate

Returns: pointer to data at given grid coordinate

Definition at line 233 of file Grid.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( const Vector2i & rGrid ) const

inlineprotected

Gets pointer to data at given grid coordinate (const version)

Parameters

rGrid grid coordinate

Returns: pointer to data at given grid coordinate

Definition at line 244 of file Grid.h.

template<typename T>

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

inlineprotected

Gets the grid data pointer

Returns: data pointer

Definition at line 290 of file Grid.h.

template<typename T>

T* karto::Grid< T >::GetDataPointer ( ) const

inlineprotected

Gets the grid data pointer (const version)

Returns: data pointer

Definition at line 299 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::GetDataSize ( ) const

inlineprotected

Gets the allocated grid size in bytes

Returns: allocated grid size in bytes

Definition at line 308 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::GetHeight ( ) const

inlineprotected

Gets the height of this grid

Returns: height of this grid

Definition at line 263 of file Grid.h.

template<typename T>

kt_double karto::Grid< T >::GetResolution ( ) const

inlineprotected

Gets the resolution

Returns: resolution

Definition at line 348 of file Grid.h.

template<typename T>

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

inlineprotected

Get the size as a Size2<kt_int32s>

Returns: size of this grid

Definition at line 272 of file Grid.h.

template<typename T>

T karto::Grid< T >::GetValue ( const Vector2i & rGrid ) const

inlineprotected

Gets value at given grid coordinate

Parameters

rGrid grid coordinate

Returns: value at given grid coordinate

Definition at line 318 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::GetWidth ( ) const

inlineprotected

Gets the width of this grid

Returns: width of this grid

Definition at line 254 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::GetWidthStep ( ) const

inlineprotected

Get actual allocated grid width. Note: The width of the grid is 8-byte aligned.

Returns: width step

Definition at line 281 of file Grid.h.

template<typename T>

virtual kt_int32s karto::Grid< T >::GridIndex	(	const Vector2i &	rGrid,
		kt_bool	boundaryCheck = `true`
	)		const

inlineprotectedvirtual

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

Parameters

rGrid	grid index
boundaryCheck	whether to check if the grid index is in the grid boundaries

Exceptions

Exception if boundaryCheck is true and the grid index falls outside the grid boundaries

Returns: index into the grid data pointer of the given grid coordinate

Reimplemented in karto::CorrelationGrid.

Definition at line 169 of file Grid.h.

template<typename T>

Vector2d karto::Grid< T >::GridToWorld	(	const Vector2i &	rGrid,
		kt_bool	flipY = `false`
	)		const

inlineprotected

Converts the given grid coordinate to world coordinates

Parameters

rGrid	grid coordinate
flipY	whether to flip the y-coordinate (useful for drawing applications with inverted y-coordinates)

Returns: equivalent world coordinate of given grid coordinate

Definition at line 223 of file Grid.h.

template<typename T>

Vector2i karto::Grid< T >::IndexToGrid ( kt_int32s index ) const

inlineprotected

Gets the grid coordinate from an index

Parameters

index index

Returns: grid coordinate from index

Definition at line 196 of file Grid.h.

template<typename T>

kt_bool karto::Grid< T >::IsValidGridIndex ( const Vector2i & rGrid ) const

inlineprotected

Checks whether the given coordinate is a valid grid index

Parameters

rGrid grid index

Returns: whether the given coordinate is a valid grid index

Definition at line 157 of file Grid.h.

template<typename T>

karto::Grid< T >::KARTO_RTTI ( )

private

template<typename T>

const Grid& karto::Grid< T >::operator= ( const Grid< T > & )

private

template<typename T>

virtual void karto::Grid< T >::Resize	(	kt_int32s	width,
		kt_int32s	height
	)

inlineprotectedvirtual

Resizes the grid (deletes all old data)

Parameters

width	new width
height	new height

Reimplemented in karto::OccupancyGrid.

Definition at line 117 of file Grid.h.

template<typename T>

void karto::Grid< T >::SetValue	(	const Vector2i &	rGrid,
		T	rValue
	)		const

inlineprotected

Sets value at given grid coordinate

Parameters

rGrid	grid coordinate
rValue	new value

Definition at line 329 of file Grid.h.

template<typename T>

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

inlineprotected

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

Parameters

x0	x0
y0	y0
x1	x1
y1	y1
f	functor

Definition at line 371 of file Grid.h.

template<typename T>

Vector2i karto::Grid< T >::WorldToGrid	(	const Vector2d &	rWorld,
		kt_bool	flipY = `false`
	)		const

inlineprotected

Converts the given world coordinate to grid coordinates

Parameters

rWorld	world coordinate
flipY	whether to flip the y-coordinate (useful for drawing applications with inverted y-coordinates)

Returns: equivalent grid coordinate of given world coordinate

Definition at line 212 of file Grid.h.

Member Data Documentation

template<typename T>

kt_int32s karto::Grid< T >::m_Height

private

Definition at line 461 of file Grid.h.

template<typename T>

CoordinateConverter* karto::Grid< T >::m_pCoordinateConverter

private

Definition at line 465 of file Grid.h.

template<typename T>

T* karto::Grid< T >::m_pData

private

Definition at line 463 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::m_Width

private

Definition at line 460 of file Grid.h.

template<typename T>

kt_int32s karto::Grid< T >::m_WidthStep

private

Definition at line 462 of file Grid.h.

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

Grid.h

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

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 >