Class CAtan2LookUpTableMultiRes

Defined in File CAtan2LookUpTable.h

Class Documentation

class CAtan2LookUpTableMultiRes

Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin. Example of usage:

mrpt::math::CAtan2LookUpTableMultiRes atan2lut;
std::map<double,double> res2extension;
res2extension[0.001] = 0.5;  // 0.1 cm resolution up to 0.5 m
res2extension[0.01]  = 1.0;  //  1 cm resolution up to 1 m
res2extension[0.02]  = 3.0;  //  2 cm resolution up to 3 m
res2extension[0.05]  = 7.5;  //  5 cm resolution up to 7.5 m
res2extension[0.10]  = 12.0; // 10 cm resolution up to  12 m
atan2lut.resize(res2extension);

Public Functions

CAtan2LookUpTableMultiRes() = default

CAtan2LookUpTableMultiRes(const std::map<double, double> &lst_resolutions2extensions) noexcept: See CAtan2LookUpTableMultiRes for a discussion of the parameters

void resize(const std::map<double, double> &lst_resolutions2extensions) noexcept: See CAtan2LookUpTableMultiRes for a discussion of the parameters

bool atan2(double y, double x, double &out_atan2) const noexcept

Returns the precomputed value for atan2(y,x).

Returns:: false if out of grid bounds.