karto::Grid< T > Class Template Reference

#include <Grid.h>

Inheritance diagram for karto::Grid< T >:

List of all members.

Public 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
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
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 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

---

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
	)		[inline, protected]

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

(

)

[inline]

Clears out the grid data

Definition at line 93 of file Grid.h.

template<typename T>

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

(

)

[inline]

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
	)		[inline, static]

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 [inline]

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 [inline]

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

)

[inline]

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 [inline]

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

(

)

[inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline]

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 [inline, virtual]

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 [inline]

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 [inline]

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 [inline]

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]

Reimplemented from karto::Object.

Reimplemented in karto::OccupancyGrid.

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
	)		[inline, virtual]

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 [inline]

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
	)		[inline]

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 [inline]

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.

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

• Grid.h