jafar::rtslam::SphericalGrid< Cell > Class Template Reference

A grid in spherical coordinates theta,phi,r with dynamic slicing of theta according to phi so that all (theta,phi) cells have approximately the same area (typically only one at the poles). More...

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Detailed Description

template<class Cell>
class jafar::rtslam::SphericalGrid< Cell >

A grid in spherical coordinates theta,phi,r with dynamic slicing of theta according to phi so that all (theta,phi) cells have approximately the same area (typically only one at the poles).

Slicing of r and phi can also optionally be dynamic with a geometric progression wrt r.

Definition at line 43 of file spaceGrid.hpp.

#include <spaceGrid.hpp>

List of all members.

Classes
struct	Index
Public Types
typedef std::map< Index, Cell > ::iterator	iterator
Public Member Functions
	SphericalGrid (double angularRes, double distInit, double distFactor, int nDist, double phiFactor)
void	rebuild (double angularRes, double distInit, double distFactor, int nDist, double phiFactor)
Cell *	getCell (jblas::vec3 pos, bool create=false)
void	downRes (double factor)
Public Attributes
std::map< Index, Cell >	map
Protected Attributes
double	angularRes
double	distInit
double	distFactor
int	nDist
double	phiFactor

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

• modules/rtslam/include/rtslam/spaceGrid.hpp