#include <Karto.h>

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 4363 of file Karto.h.

Constructor & Destructor Documentation

template<typename T>

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

inlinevirtual

Destructor

Definition at line 4385 of file Karto.h.

template<typename T>

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

inlineprotected

Constructs grid of given size

Parameters

width
height

Definition at line 4734 of file Karto.h.

Member Function Documentation

template<typename T>

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

inline

Clear out the grid data

Definition at line 4395 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 4404 of file Karto.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
height
resolution

Returns: grid pointer

Definition at line 4373 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 4647 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 4629 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 4534 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 4545 of file Karto.h.

template<typename T>

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

inline

Gets the grid data pointer

Returns: data pointer

Definition at line 4591 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 4600 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 4609 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 4564 of file Karto.h.

template<typename T>

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

inline

Gets the resolution

Returns: resolution

Definition at line 4638 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 4573 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 4619 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 4555 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 4582 of file Karto.h.

template<typename T>

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

inlinevirtual

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 4469 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 4524 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 4497 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 4458 of file Karto.h.

template<typename T>

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

inlinevirtual

Resizes the grid (deletes all old data)

Parameters

width
height

Reimplemented in karto::OccupancyGrid.

Definition at line 4419 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 4661 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 4513 of file Karto.h.

Member Data Documentation

template<typename T>

kt_int32s karto::Grid< T >::m_Height

private

Definition at line 4743 of file Karto.h.

template<typename T>

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

private

Definition at line 4748 of file Karto.h.

template<typename T>

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

private

Definition at line 4745 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::m_Width

private

Definition at line 4742 of file Karto.h.

template<typename T>

kt_int32s karto::Grid< T >::m_WidthStep

private

Definition at line 4744 of file Karto.h.

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

Karto.h

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 >