9 #ifndef CSimplePointsMap_H 10 #define CSimplePointsMap_H 40 virtual ~CSimplePointsMap();
46 virtual
void resize(
size_t newLength) MRPT_OVERRIDE;
47 virtual
void setSize(
size_t newLength) MRPT_OVERRIDE;
49 virtual
void setPointFast(
size_t index,
float x,
float y,
float z) MRPT_OVERRIDE;
51 virtual
void insertPointFast(
float x,
float y,
float z = 0 ) MRPT_OVERRIDE;
53 virtual
void copyFrom(const CPointsMap &obj) MRPT_OVERRIDE;
58 virtual
void getPointAllFieldsFast( const
size_t index,
std::vector<
float> & point_data ) const MRPT_OVERRIDE {
60 point_data[0] = x[index];
61 point_data[1] = y[index];
62 point_data[2] = z[index];
70 x[index] = point_data[0];
71 y[index] = point_data[1];
72 z[index] = point_data[2];
112 virtual void PLY_import_set_vertex_count(
const size_t N)
MRPT_OVERRIDE;
134 static const int HAS_RGB = 0;
135 static const int HAS_RGBf = 0;
136 static const int HAS_RGBu8 = 0;
141 inline size_t size()
const {
return m_obj.
size(); }
146 template <
typename T>
147 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
151 inline void setPointXYZ(
const size_t idx,
const coords_t x,
const coords_t y,
const coords_t z) {
float coords_t
The type of each point XYZ coordinates.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
virtual void setPointFast(size_t index, float x, float y, float z) MRPT_OVERRIDE
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
With this struct options are provided to the observation insertion process.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
void getPointFast(size_t index, float &x, float &y, float &z) const
Just like getPoint() but without checking out-of-bound index and without returning the point weight...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Options used when evaluating "computeObservationLikelihood" in the derived classes.
virtual void resize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
size_t size() const
Returns the number of stored points in the map.
mrpt::maps::CSimplePointsMap & m_obj
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(), this method does not check for index out of bounds.
An adapter to different kinds of point cloud object.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
size_t size() const
Get number of points.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
void resize(const size_t N)
Set number of points (to uninitialized values)