TransformToMapFunctor< Celltype > Class Template Reference

Functor to rotate, shift and transform a point to map coordinates This functor stores cos and sin of the provided rotation. More...

#include <mapping/PolygonTools.h>

Public Member Functions
	TransformToMapFunctor (const float rotation, const Point2f &translation, const maps::GridMap< Celltype > &map)
	TransformToMapFunctor (const Pose2 &pose, const maps::GridMap< Celltype > &map)
Point2f	operator() (const Point2f &p) const

Detailed Description

template<class Celltype>
class mira::maps::polygon::TransformToMapFunctor< Celltype >

Functor to rotate, shift and transform a point to map coordinates This functor stores cos and sin of the provided rotation.

The operator*= from Pose2 does the creation of a transformation matrix on each call. To avoid that overhead this functor does these transformations by hand and does not use the operator provided by Pose2.

Constructor & Destructor Documentation

TransformToMapFunctor() [1/2]

TransformToMapFunctor ( const float  rotation, const Point2f &  translation, const maps::GridMap< Celltype > &  map  )

inline

TransformToMapFunctor() [2/2]

TransformToMapFunctor ( const Pose2 &  pose, const maps::GridMap< Celltype > &  map  )

inline

Member Function Documentation

operator()()

Point2f operator() ( const Point2f &  p ) const

inline

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

• include/mapping/PolygonTools.h